CN114310600B - Full-automatic polishing workstation - Google Patents
Full-automatic polishing workstation Download PDFInfo
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- CN114310600B CN114310600B CN202210053501.0A CN202210053501A CN114310600B CN 114310600 B CN114310600 B CN 114310600B CN 202210053501 A CN202210053501 A CN 202210053501A CN 114310600 B CN114310600 B CN 114310600B
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Abstract
The invention discloses a full-automatic polishing workstation, which comprises: the protection dustcoat, be equipped with the swivel work head that is used for fixed work piece in the protection dustcoat, one side of swivel work head is equipped with the intelligent constant force system of polishing that is used for polishing the work piece, one side of intelligence constant force system of polishing is equipped with the intelligent consumptive material management system of polishing that is used for saving the consumptive material of polishing, the consumptive material of polishing on the intelligence constant force system of polishing is changed through the consumptive material management system of polishing of intelligence. Through the cooperation of swivel work head and intelligent constant force system of polishing, realize automatic polishing to the comparatively complicated big work piece surface of shape, the efficiency of polishing has been improved, the contact dynamics on the surface of guaranteeing to polish in the process of polishing is the constant force, promote the stability of the quality of polishing, whole process of polishing goes on in closed protective housing simultaneously, the workman only needs to operate and control in the outside of protective housing, make dust and workman keep apart, make the environment of polishing obtain greatly improving.
Description
Technical Field
The invention relates to the technical field of polishing, in particular to a full-automatic polishing workstation.
Background
Sanding is one of surface modification techniques, generally referring to a processing method for changing physical properties of a material surface by friction with the aid of a rough object (sand paper containing particles of higher hardness, etc.), and is mainly aimed at obtaining a specific surface roughness; at present, when polishing big work piece to irregular shape, because its shape is comparatively complicated, mostly manual work handheld electric grinding tool polishes, can produce a large amount of dust during polishing, the environment is abominable to staff intensity of labour is big, and ageing is serious, and efficiency of polishing is lower, and the quality of polishing also appears jaggedly, makes the quality after the product is polished unstable. Therefore, there is a need for a fully automated grinding station that at least partially solves the problems of the prior art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides a fully automated grinding station comprising: the protection dustcoat, be equipped with the swivel work head that is used for fixed work piece in the protection dustcoat, one side of swivel work head is equipped with the intelligent constant force system of polishing that is used for polishing the work piece, one side of intelligence constant force system of polishing is equipped with the intelligent consumptive material management system of polishing that is used for saving the consumptive material of polishing, the consumptive material of polishing on the intelligence constant force system of polishing is changed through the consumptive material management system of polishing of intelligence.
Preferably, the intelligent constant force sanding system comprises: robot, intelligent constant force device, polisher and the consumptive material of polishing, the robot includes six arms, the tip of six arms is passed through intelligent constant force device with the polisher is connected, the carousel of polisher is attached to have removable consumptive material of polishing.
Preferably, the intelligent polishing consumable management system includes: storage device, stripping off device and the consumptive material detection device of polishing, storage device is used for saving the consumptive material of polishing of different types respectively, stripping off device be used for with the consumptive material of polishing on the intelligent constant force system of polishing takes off, the consumptive material detection device of polishing is used for detecting the consumptive material of polishing on the intelligent constant force system of polishing has or not.
Preferably, the protective outer cover is provided with an automatic door and a safety detection device, the automatic door is controlled to be opened or closed through a button, and the automatic door can be automatically opened when the workpiece is polished and the equipment in the protective outer cover stops running;
when the equipment in the protective outer cover is in a working state, the safety detection device is used for detecting whether personnel enter an equipment working area or not, and if the personnel enter the equipment working area, the equipment in the protective outer cover is controlled to stop running;
the dust collecting device is used for collecting dust in the protective outer cover.
Preferably, the rotary table includes: the rotary platform is rotatably arranged in a designated safe area in the protective outer cover through a rotating device and is matched with the intelligent constant-force polishing system to polish a workpiece, and the flexible positioning fixture is detachably connected to the rotary platform through the fixture quick-change device;
the flexible positioning jig includes: the bottom of the fixed table is fixedly connected with the rotary platform through the clamp quick-change device, a plurality of movable tables are arranged on the fixed table, a plurality of positioning blocks and a plurality of clamping blocks are arranged on the movable tables, limiting holes corresponding to the positioning blocks are formed in the bottoms of the workpieces, and the positioning blocks are used for supporting and positioning the workpieces and are matched with the clamping blocks to fix the workpieces;
the position of the movable platen on the fixed table is adjusted according to the length of the workpiece;
the number and the positions of the positioning blocks and the number and the positions of the clamping blocks are adjusted through the shape and the size of the workpiece.
Preferably, the storage device comprises a plurality of storage bins and an automatic door cover, different types of polishing consumables are stored in the storage bins respectively, and the automatic door cover is used for opening or closing the storage bins;
the storage device is also provided with a material shortage early warning system, and the material shortage early warning system is used for detecting whether a plurality of polishing consumables in the storage bin need to be supplemented.
Preferably, the storage bin comprises a storage cylinder and a separation cylinder, a movable plate is slidably arranged in the storage cylinder, a telescopic mechanism is arranged at the bottom of the movable plate, the polishing consumables are stacked in the storage cylinder and located on the movable plate, and the telescopic mechanism controls the top surfaces of the stacked polishing consumables to be located at a preset height and lower than the top end of the storage cylinder;
the separating cylinder is arranged at the top of the storage cylinder, a friction layer is arranged on the inner wall of the separating cylinder, the inner diameter of the storage cylinder is larger than that of the separating cylinder with the friction layer, and the diameter of the polishing consumable material is larger than that of the separating cylinder with the friction layer.
Preferably, the polishing consumable detection device comprises a color sensor, the color of the surface of the polishing consumable of the intelligent constant-force polishing system installation is different from the color of the polishing consumable, and the color sensor detects the color of the surface of the polishing consumable of the intelligent constant-force polishing system installation to judge whether the polishing consumable exists or not.
Preferably, the intelligent constant force device comprises a corrugated sleeve, one end of the corrugated sleeve is fixedly connected with the end part, close to the grinding machine, of the six-axis mechanical arm, and the other end of the corrugated sleeve is fixedly connected with a mounting frame of the grinding machine;
a fixed sleeve is arranged in the corrugated sleeve and positioned on one side, close to the six-axis mechanical arm, of the mounting frame, the top end of the fixed sleeve is connected with the outer side of the end part of the six-axis mechanical arm in a sliding mode, an elastic mechanism is arranged in the fixed sleeve, and the elastic mechanism is connected between the inner bottom surface of the fixed sleeve and the end part of the six-axis mechanical arm;
six arms are located tip in the fixed cover is equipped with pressure measurement mechanism, the inside of fixed cover is the bell mouth, the bell mouth is close to the one end diameter of six arms is greater than its other end diameter, pressure measurement mechanism stretches out the both ends that six arms set up with the lateral wall elasticity butt of bell mouth, pressure measurement mechanism stretches out through detecting its both ends the distance of six arms, it is right the polisher carries out constant force control with the pressure of work piece contact.
Preferably, the pressure detection mechanism includes: the six-shaft mechanical arm is provided with a working cavity at the inner side of the end part of the fixed sleeve, the rotary disc is rotatably connected in the working cavity, the rotary disc is provided with arc-shaped resistor strips concentrically arranged with the rotary disc, and one side of the working cavity is provided with a conductive rod which is electrically connected with the arc-shaped resistor strips;
a gear is arranged at the center of the rotating disc, racks are respectively connected to two sides of the gear in a meshed manner, a sliding block is arranged at one end, away from the gear, of each rack, a sliding rod is arranged at one side, away from the corresponding rack, of each sliding block, each sliding rod penetrates through the corresponding working cavity, a roller is arranged at one end, away from the corresponding sliding block, of each sliding rod, each roller is abutted against the side wall of the corresponding conical hole of the corresponding fixed sleeve, a first spring is connected between each sliding block and the corresponding side wall of the corresponding working cavity, and the first spring is sleeved on the outer side of each sliding rod;
elastic mechanism includes the first hinge bar that two symmetries set up, the one end of first hinge bar is in with the setting the first connecting block of six arm tip is articulated, the other end of first hinge bar is articulated through articulated axle with the one end of second hinge bar, the other end of second hinge bar is in with the setting the second connecting block of bottom is articulated in the fixed cover, two the tip of articulated axle passes through second spring coupling.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the full-automatic grinding workstation replaces manual grinding through the matching of the rotary workbench and the intelligent constant-force grinding system, realizes automatic grinding of the surface of a large workpiece with a complex shape, greatly improves grinding efficiency, ensures that the contact force of the grinding surface is constant force through the intelligent constant-force grinding system in the grinding process, improves the stability of grinding quality, prevents the surface of the workpiece from being damaged, simultaneously carries out the whole grinding process in a closed protective outer cover, and only needs a worker to operate and control the outer side of the protective outer cover to isolate dust from the worker, so that the grinding environment is greatly improved.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a fully automated sanding station according to the present invention;
FIG. 2 is a schematic structural diagram of an intelligent constant force polishing system in a fully automated polishing workstation according to the present invention;
FIG. 3 is a schematic diagram of a portion of an intelligent constant force sanding system of a fully automated sanding station according to the present invention;
FIG. 4 is a schematic diagram of the intelligent polishing consumable management system in the fully automated polishing workstation according to the present invention;
FIG. 5 is a schematic diagram of a rotary table in the fully automated buffing station according to the present invention;
FIG. 6 is a schematic view of a storage bin in a fully automated sanding station according to the present invention;
FIG. 7 is a schematic view of a protective enclosure in a fully automated sanding station according to the present invention;
FIG. 8 is a schematic view of a protective enclosure in a fully automated sanding station according to the present invention;
FIG. 9 is a schematic diagram of the internal structure of the intelligent constant force device in the fully automated sanding station according to the present invention;
FIG. 10 is a schematic diagram of the internal structure of the pressure detection mechanism in the fully automated sanding station of the present invention;
fig. 11 is a schematic structural diagram of an elastic mechanism in the fully automated grinding workstation according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-11, the present invention provides a fully automated grinding station comprising: protective housing 1, be equipped with swivel work head 2 that is used for fixed work piece 7 in the protective housing 1, one side of swivel work head 2 is equipped with the intelligent constant force system of polishing 3 that is used for polishing work piece 7, one side of the intelligent constant force system of polishing 3 is equipped with the intelligent consumptive material management system 4 of polishing that is used for saving consumptive material 8 of polishing, the consumptive material 8 of polishing on the intelligent constant force system of polishing 3 is changed through the consumptive material management system 4 of polishing of intelligence.
The working principle of the technical scheme is as follows: the rotary workbench 2 is used for fixing a workpiece 7 to be polished, the intelligent constant-force polishing system 3 is used for polishing the workpiece 7, in the polishing process, the intelligent constant-force polishing system 3 always keeps preset pressure to polish the surface of the workpiece 7, and the rotation of the rotary workbench 2 on the workpiece 7 is matched, so that the omnibearing polishing effect is achieved; the end part of the intelligent constant-force polishing system 3 for polishing is provided with a polishing consumable material 8, the polishing consumable material 8 usually adopts different-mesh abrasive paper to polish in different degrees, the polishing consumable material 8 needs to be replaced after being polished for a period of time, the intelligent constant-force polishing system 3 sets polishing time according to the abrasive paper with different meshes, when the using time of the abrasive paper with the meshes reaches the set preset polishing time, the end part of the intelligent constant-force polishing system 3 automatically moves to the intelligent polishing consumable material management system 4, the polishing consumable material 8 on the intelligent constant-force polishing system 3 is taken down through the intelligent polishing consumable material management system 4, the new polishing consumable material 8 is replaced, and polishing operation is continued after the replacement is finished; the whole polishing process is totally closed in the protective outer cover 1, and the rotary worktable 2, the intelligent constant-force polishing system 3 and the intelligent polishing consumable management system 4 are respectively and automatically controlled through the control end.
The beneficial effects of the above technical scheme are that: through swivel work head 2 and the cooperation of intelligence constant force system 3 of polishing, replace the manual work and polish, realize automatic 7 surfaces of big work piece that the shape is comparatively complicated and polish, very big improvement the efficiency of polishing, and it is the constant force to guarantee through intelligence constant force system 3 of polishing at the in-process of polishing the contact dynamics on surface of polishing, promote the stability of the quality of polishing, prevent that 7 surfaces of work piece from appearing damaging, whole process of polishing is gone on in closed protection dustcoat 1 simultaneously, the workman only needs to operate and control in the outside of protection dustcoat 1, make dust and workman keep apart, make the environment of polishing obtain very big improvement.
In one embodiment, the intelligent constant force sanding system 3 comprises: robot 310, intelligent constant force device 320, polisher 330 and the consumptive material 8 of polishing, robot 310 includes six arms, the tip of six arms passes through intelligent constant force device 320 with polisher 330 is connected, the carousel 331 of polisher 330 is attached to have removable consumptive material 8 of polishing.
The working principle and the beneficial effects of the technical scheme are as follows: the robot 310 adopts six mechanical arms, and by controlling the movement of each shaft, the intelligent constant-force polishing system 3 can be adapted to various angles to polish the workpiece 7, is convenient and flexible, and drives the polishing machine 330 arranged at the end part to move, so that the workpiece 7 with a complex shape is polished; the intelligent constant force device 320 is arranged in front of the polisher 330 and the six-axis mechanical arm, so that the contact force between the polisher 330 and the surface of the workpiece 7 can be monitored in real time and adjusted at any time, the contact force between the polisher 330 and the surface of the workpiece 7 is ensured to be constant, the surface of the workpiece 7 is prevented from being damaged, and when the polisher 330 is polished by abrasive paper with different meshes, the contact force between the polisher 330 and the surface of the workpiece 7 can be adjusted according to different meshes of the abrasive paper, the polishing effect is improved, and the stability of the quality of the polished workpiece 7 is improved; the grinding machine 330 can adopt pneumatic and electric modes, grinding abrasive paper is arranged on a rotary table 331 of the grinding machine 330, and grinding abrasive paper with different meshes is selectively arranged according to requirements so as to meet different grinding precision; wherein, the one side that consumptive material 8 of polishing is connected with carousel 331 is equipped with the A face of magic subsides, and is equipped with the B face of magic subsides on the carousel 331 for consumptive material 8 of polishing can be dismantled on carousel 331 through the installation of magic subsides.
In one embodiment, the intelligent polishing consumable management system 4 comprises: the device comprises a storage device 410, a stripping device 420 and a polishing consumable detection device 430, wherein the storage device 410 is used for storing different types of polishing consumables 8, the stripping device 420 is used for removing the polishing consumables 8 on the intelligent constant-force polishing system 3, and the polishing consumable detection device 430 is used for detecting whether the polishing consumables 8 on the intelligent constant-force polishing system 3 exist or not;
stripping off device 420 includes vacuum chuck separating mechanism 421 and scraper separating mechanism 422, the below of vacuum chuck separating mechanism 421 and scraper separating mechanism 422 all is equipped with collects the storehouse, scraper separating mechanism 422 includes V font scraper, one side of V font scraper is equipped with the edge of a knife.
The working principle and the beneficial effects of the technical scheme are as follows: the intelligent polishing consumable management system 4 comprises a box body, wherein a storage device 410 is arranged on the box body, a stripping device 420 and a polishing consumable detection device 430 are arranged on one side of the storage device 410, different types of polishing consumables 8, namely abrasive paper with different meshes, are respectively stored in the storage device 410, the stripping device 420 is provided with two types, one type is a vacuum chuck separating mechanism 421, the other type is a scraper separating mechanism 422, a collecting bin is arranged below each of the two types of mechanisms, when the polisher 330 needs to be replaced after working for a period of time, the polisher 330 is driven to move to the stripping device 420 through six mechanical arms, different separating mechanisms are selected according to needs, the vacuum chuck separating mechanism 421 can suck part of the abrasive paper, and then the polisher 330 is driven to move through the six mechanical arms, so that the abrasive paper is separated from a turntable 331 of the polisher 330; the scraper separating mechanism 422 is a V-shaped scraper arranged on the upper surface of the box body, the six-axis mechanical arm drives the grinding machine 330, a gap at the joint of the rotary table 331 and the abrasive paper of the grinding machine 330 is aligned with the edge position of the scraper, and then the grinding machine 330 is moved against the edge position, so that the abrasive paper is smoothly separated by the scraper, and the V-shaped structure of the scraper is beneficial to dispersing the stress of the abrasive paper and the scraper, so that the separation is smooth; the V-shaped scraper can be designed into a positive V mode and a negative V mode, and separated abrasive paper falls into the collection bin from the cutter opening; it should be noted that the sandpaper and the rotating disc 331 of the grinding machine 330 are mounted by using a magic tape, which is convenient for mounting and separation; after the abrasive paper is peeled off from the sander 330, the sanding consumable detection device 430 detects whether abrasive paper exists on the turntable 331 of the sander 330, if the abrasive paper is not completely peeled off, the six-axis mechanical arm needs to be controlled to drive the sander 330 to move again for abrasive paper peeling off, if no abrasive paper exists on the turntable 331 of the sander 330, the six-axis mechanical arm is controlled to drive the sander 330 to move to the storage device 410, and a required mesh of abrasive paper is selected, and the abrasive paper is attached to the turntable 331 of the sander 330 by the movement of the six-axis mechanical arm, after the operation is completed, the six-axis mechanical arm drives the sander 330 to move again to the sanding consumable detection device 430 for detection, if no abrasive paper exists on the turntable 331 of the sander 330, the six-axis mechanical arm is controlled to move again to the abrasive paper storage device 410 for installation, and if no abrasive paper exists on the turntable 331 of the sander 330, the six-axis robot arm is controlled to continue the polishing operation, that is, after each step of sand paper replacement is performed on the turntable 331 of the polishing machine 330, the detection needs to be performed by the polishing consumable detection device 430, so that the old sand paper on the turntable 331 of the polishing machine 330 is completely peeled, the new sand paper is installed perfectly, and the polishing efficiency and the polishing stability are further improved.
In one embodiment, an automatic door and a safety detection device are arranged on the protective outer cover 1, the automatic door is controlled to be opened or closed through a button, and when the workpiece 7 is polished and the equipment in the protective outer cover 1 stops running, the automatic door can be automatically opened;
when the equipment in the protective outer cover 1 is in a working state, the safety detection device is used for detecting whether personnel enter an equipment working area, and if the personnel enter the equipment working area, the equipment in the protective outer cover 1 is controlled to stop running;
a closed space is formed in the protective outer cover 1, and a dust collecting device is arranged in the protective outer cover 1 and used for collecting dust in the protective outer cover 1;
the protective outer cover 1 forms a closed space through a left metal plate vertical plate 110, a right metal plate vertical plate 120, a front door metal plate 130, a rear metal plate vertical plate 140, a capping metal plate 150 and a base 160 which are connected with one another, the left metal plate vertical plate 110 and the right metal plate vertical plate 120 are provided with hidden wire grooves, and circuits and gas circuits are placed in the hidden wire grooves;
the front door metal plate 130 is provided with an automatic door and a safety detection device, when the equipment in the protective outer cover 1 is in a working state, the safety detection device detects that a person enters the protective outer cover and gives an alarm, and the equipment stops running.
The working principle and the beneficial effects of the technical scheme are as follows: the protective housing 1 is integrally formed into a closed space, and a dust collecting device is arranged in the closed space, so that dust generated during polishing of the workpiece 7 can be sucked into the dust collecting device through the dust collecting device, the environment is kept clean, the dust is prevented from escaping to the outer side of the protective housing 1, and meanwhile, the dust amount in the closed space is reduced, so that the polishing environment is greatly improved; the base 160 of the protective outer cover 1 is integrally welded and formed, and cement and the like are used as fillers, so that the weight of the base 160 is increased, the equipment is stable and not easy to deform during operation, and the vibration effect is reduced; meanwhile, the problem of equipment transportation is fully considered by the size design of the protective outer cover 1, the equipment can be hoisted and loaded on a vehicle for transportation, the on-site machine adjustment of the equipment is convenient, the equipment can be operated and debugged only by connecting the polishing workstation into a main power supply and a main power supply, and the use is convenient and fast.
In one embodiment, the rotary table 2 comprises: the rotary platform 210 is rotatably arranged in a designated safe area in the protective housing 1 through a rotating device and is matched with the intelligent constant-force polishing system 3 to polish the workpiece 7, and the flexible positioning fixture 230 is detachably connected to the rotary platform 210 through the fixture quick-change device 220;
the flexible positioning jig 230 includes: the bottom of the fixing table 231 is fixedly connected with the rotating platform 210 through the clamp quick-change device 220, a plurality of movable tables 234 are arranged on the fixing table 231, a plurality of positioning blocks 232 and a plurality of clamping blocks 233 are arranged on the movable tables 234, limiting holes corresponding to the positioning blocks 232 are arranged at the bottom of the workpiece 7, and the positioning blocks 232 are used for supporting and positioning the workpiece 7 and are matched with the clamping blocks 233 to fix the workpiece 7;
the position of the movable platen 234 on the fixed table 231 is adjusted depending on the length of the workpiece 7;
the number and position of the positioning blocks 232 and the number and position of the clamping blocks 233 are adjusted by the shape and size of the workpiece 7;
the fixture quick-change device 220 comprises: a positioning mechanism and a locking mechanism, wherein the flexible positioning fixture 230 is positioned on the rotary platform 210 by the positioning mechanism, and the flexible positioning fixture 230 is fixed on the rotary platform 210 by the locking mechanism.
The working principle and the beneficial effects of the technical scheme are as follows: the rotary platform 210 is rotatably connected in the protective outer cover 1 through a rotating device, is positioned in a safe area during rotation, and is matched with the intelligent constant-force polishing system 3 to polish the workpiece 7, so that the polishing adaptability is stronger, and more complex surfaces of the workpiece 7 can be polished; through the positioning mechanism and the locking mechanism, the quick replacement of different flexible positioning clamps 230 can be realized, and the convenience of switching production of different types of workpieces 7 is improved; the position of the movable platen 234 is determined according to the length of the workpiece 7, the movable platen 234 can move in the length direction of the fixed table 231, after the position is determined, the movable platen 234 is fixed on the fixed table 231, the position of the movable platen 234 can be adjusted manually or by a driving part, then workpieces 7 of different types are positioned and clamped by adjusting the positions of the positioning blocks 232 and the clamping blocks 233 on the movable platen 234, the shapes and the sizes of the positioning blocks 232 and the clamping blocks 233 are multiple according to the different workpieces 7, the positioning blocks 232 and the clamping blocks 233 with proper shapes and numbers are selected and installed on the movable platen 234 according to the shapes and the sizes of the workpieces 7, the positioning blocks 232 are inserted into limiting holes arranged at the bottom of the workpieces 7, the movement of the workpieces 7 in the horizontal direction is primarily limited, after the workpieces 7 are limited on the movable platen 234 by the positioning blocks 232, the workpieces 7 are locked and fixed by the clamping blocks 233, the clamping block 233 clamps the workpiece 7 from the side surface thereof, so that the workpiece 7 is completely limited in movement in the horizontal direction, and is firmly fixed, thereby reducing the use of positioning fixtures for different workpieces 7 and saving the cost of the positioning fixtures; in addition, the positions of the positioning block 232 and the clamping block 233 can be adjusted manually or by adding a moving part, so that the positions of the positioning block 232 and the clamping block 233 can be automatically adjusted.
In one embodiment, the storage device 410 includes a plurality of storage bins in which different kinds of polishing consumables 8 are stored, respectively, and an automatic door cover 411 for opening or closing the plurality of storage bins;
the storage device 410 is further provided with a material shortage early warning system, and the material shortage early warning system is used for detecting whether the polishing consumable materials 8 in the storage bins need material supplement or not.
The working principle and the beneficial effects of the technical scheme are as follows: when the polishing consumable material 8 needs to be replaced by the polishing machine 330 on the six-axis mechanical arm, the automatic door cover 411 is controlled to be automatically opened so that the plurality of storage bins are exposed, and when the polishing consumable material 8 is replaced, the automatic door cover 411 is automatically closed so as to prevent dust from polluting the polishing consumable material 8 and influencing the use effect of the polishing consumable material 8; lack material early warning system and be used for detecting the consumptive material 8 of polishing in the storage storehouse whether be in lacking the material state, if any storage storehouse in the consumptive material 8 of polishing when not enough, then lack material early warning system and just send the early warning, remind the user to carry out the feed supplement, further guarantee the normal clear of the operation of polishing.
In one embodiment, the storage bin comprises a storage barrel 412 and a separation barrel 413, a movable plate is slidably arranged in the storage barrel 412, a telescopic mechanism is arranged at the bottom of the movable plate, the polishing consumables 8 are arranged in the storage barrel 412 in a stacked mode and located on the movable plate, and the telescopic mechanism controls the top surface of the polishing consumables 8 arranged in the stacked mode to be located at a preset height and lower than the top end of the storage barrel 412;
the separating cylinder 413 is arranged at the top of the storage cylinder 412, a friction layer 414 is arranged on the inner wall of the separating cylinder 413, the inner diameter of the storage cylinder 412 is larger than that of the separating cylinder 413 provided with the friction layer 414, and the diameter of the polishing consumable 8 is larger than that of the separating cylinder 413 provided with the friction layer 414.
The working principle and the beneficial effects of the technical scheme are as follows: the storage cylinder 412 is communicated with the separation cylinder 413, the separation cylinder 413 is arranged above the upper surface of the box body of the intelligent polishing management system, the polishing consumable 8 is sand paper, multiple layers of sand paper are stored in the storage cylinder 412, the top surface of the multiple layers of sand paper is not larger than the top end of the storage cylinder 412 and is arranged below the bottom end of the friction layer 414 of the separation cylinder 413; the friction layer 414 may be a plurality of protrusions, when the abrasive paper is replaced on the turntable 331 of the sander 330, the six-axis mechanical arm drives the sander 330 to perform an abrasive paper peeling operation first, when the old abrasive paper is completely peeled off from the turntable 331 of the sander 330, the old abrasive paper moves to a storage bin with a corresponding mesh number, then the six-axis mechanical arm drives the sander 330 to move downward, so that the turntable 331 of the sander 330 is tightly attached to the uppermost abrasive paper, and several times of pressing are repeated to ensure that the abrasive paper is fully attached to the turntable 331, then the six-axis mechanical arm drives the sander 330 to move upward, the abrasive paper on the sander 330 is tightly attached to the turntable 331 through a magic tape, the side edge of the abrasive paper is not affected by the friction layer 414, the abrasive paper on the sander 330 is not separated from the turntable 331, and the lower abrasive paper adhered to the uppermost abrasive paper moves upward along with the upward movement of the sander 330 along the storage barrel 412, when the abrasive paper moves to the separation barrel 413, because the diameter of the separating cylinder 413 is slightly smaller than that of the storage cylinder 412, the side edge of the bonded sand paper below can be hindered by the friction layer 414, so that the bonded sand paper is separated from the sand paper on the uppermost layer after being hindered, and the influence on use caused by taking out multiple pieces of sand paper at one time when the six-axis mechanical arm drives the grinding machine 330 to replace the sand paper is prevented; after the abrasive paper is replaced, the telescopic mechanism moves upwards for a preset distance, wherein the preset distance is the thickness of one piece of abrasive paper, so that the distances of downward movement of the six mechanical arms are equal when the abrasive paper is replaced each time, and the stability of replacing the abrasive paper is ensured; the inner diameter of the storage cylinder 412 may be set slightly larger than the diameter of sandpaper, and the inner diameter of the separation cylinder 413 in which the friction layer 414 is disposed may be set slightly smaller than the diameter of sandpaper; when the sandpaper is replaced again, if the sandpaper replaced last time is in a skewed state in the separating cylinder 413 due to the friction layer 414, when the sander 330 moves downwards, the skewed sandpaper is driven to move downwards into the storage cylinder 412, and the diameter of the storage cylinder 412 is slightly larger than that of the sandpaper, so that the sandpaper can be restored to a horizontal state in the storage cylinder 412, and then the sandpaper is pressed downwards again to be pasted, and the replacement of the sandpaper is completed.
In one embodiment, the polishing consumable detection device 430 includes a color sensor, the color of the surface of the intelligent constant force polishing system 3 where the polishing consumable 8 is installed is different from the color of the polishing consumable 8, and the color of the surface of the intelligent constant force polishing system 3 where the polishing consumable 8 is installed is detected by the color sensor to determine whether the polishing consumable 8 exists or not;
the polishing consumable detecting device 430 comprises the following detection steps:
step 1, acquiring the color of the surface of a polishing consumable 8 installed in the intelligent constant-force polishing system 3 through the color sensor;
wherein, the color channel R 0 、G 0 、B 0 Respectively corresponding to an average value of
wherein arccos is a cosine value of the inverse trigonometric function, and min () is a minimum value;
wherein L is color similarity, min is minimum, i is ith pixel point, n is number of pixel points, j is jth color, m is number of color types, L is j For pixel values Q on the surface image of the j-th color j (H ji ′,I ji ′,S ji ') pixel value P (H) of a point i of the surface image of the installed polishing consumable 8 with the acquired intelligent constant force polishing system 3 i ,I i ,S i ) The similarity of (1), (2), (…), (m), (H) i 、I i 、S i The hue, brightness and saturation in the pixel value of the ith pixel point of the surface image of the polishing consumable 8, H, are respectively installed for the obtained intelligent constant-force polishing system 3 ji ′、I ji ′、S ji ' are hue, brightness and saturation in pixel values on the jth color surface image corresponding to pixel point i, respectively;
multiple pixel values Q for minimizing L value j The corresponding color is the color obtained by detection.
The working principle and the beneficial effects of the technical scheme are as follows: the surface of the intelligent constant-force polishing system 3, on which the polishing consumable 8 is mounted, is the color of the surface of the rotating disc 331 of the polishing machine 330, the rotating disc 331 is attached to the abrasive paper through the magic tape, so that the color of the magic tape on the rotating disc 331 is set to be different from the color of the abrasive paper, and the color detection is performed through the polishing consumable detection device 430 to judge whether the abrasive paper exists or not, generally, after the abrasive paper is polished, the color changes, and a small amount of dust adheres to the surface of the magic tape under large dust, so that the accuracy of the color detection is affected, therefore, in order to detect the color more accurately, the above steps are adopted, and finally the pixel value of the color is used as the judgment standard of the similarity, namely, the pixel value of the stored color image corresponding to the minimum value in the step 4 is obtained through the color similarity, namely, the detected color is obtained; and before carrying out the similarity contrast, carry out homogenization treatment to the colour that obtains, make acquireing of colour more true, then adopt the HIS model to change the colour, can carry out the similarity contrast to the colour through luminance, hue and the three aspect of saturation, because the environment in the protective housing 1 is comparatively complicated, light and luminance are uncertain, the colour that leads to detecting at every turn can have the difference, consequently, carry out the similarity contrast with luminance, hue and the three element of saturation as the pixel value, the colour that detects is more accurate, prevent that consumable detection device 430 of polishing from appearing the condition of false detection, further promote the work efficiency of workstation of polishing, guarantee the stability of its work.
In one embodiment, the intelligent constant force apparatus 320 comprises a corrugated sleeve 321, one end of the corrugated sleeve 321 is fixedly connected to the end of the six-axis mechanical arm close to the sander 330, and the other end of the corrugated sleeve 321 is fixedly connected to the mounting frame 332 of the sander 330;
a fixing sleeve 322 is arranged in the corrugated sleeve 321 and on one side of the mounting rack 332 close to the six-axis mechanical arm, the top end of the fixing sleeve 322 is connected with the outer side of the end part of the six-axis mechanical arm in a sliding manner, an elastic mechanism 5 is arranged in the fixing sleeve 322, and the elastic mechanism 5 is connected between the inner bottom surface of the fixing sleeve 322 and the end part of the six-axis mechanical arm;
six arms are located tip in fixed cover 322 is equipped with pressure detection mechanism 6, the inside of fixed cover 322 is the bell mouth, the bell mouth is close to the one end diameter of six arms is greater than its other end diameter, pressure detection mechanism 6 stretches out the both ends that six arms set up with the lateral wall elasticity butt of bell mouth, pressure detection mechanism 6 stretches out through detecting its both ends the distance of six arms, it is right the pressure of polisher 330 and the contact of work piece 7 carries out constant force control.
The working principle and the beneficial effects of the technical scheme are as follows: in the prior art, a pressure sensor is usually adopted for detecting the contact pressure, and the force applied to the pressure sensor is utilized for detection, so that the pressure sensor has limitation in stress and is easy to damage due to overlarge stress, an elastic mechanism 5 and a pressure detection mechanism 6 are arranged for detecting the contact pressure, the pressure detection is non-contact pressure detection, and the use stability of the pressure detection mechanism 6 is ensured; the corrugated sleeve 321 can stretch and retract, and through the arranged elastic mechanism 5, the six-axis mechanical arm is elastically connected with the grinding machine 330, thereby making the polishing force acting on the surface of the workpiece 7 flexible, and when the polisher 330 contacts the workpiece 7, the distance between the end of the six-axis mechanical arm and the inner bottom of the fixed sleeve 322 is shortened, the elastic mechanism 5 is compressed, so that the elastic mechanism 5 generates elastic acting force to the grinding machine 330, thereby increasing the grinding force, when the six-axis mechanical arm moves, the two ends of the pressure detection mechanism 6 move along the side wall of the conical hole, so that the extending distance of the two ends is shortened, a relation equation of the distance and the polishing force can be established, and the relation equation is generally linear, namely the larger the polishing force is, the shorter the extending distance of the two ends of the pressure detection mechanism 6 is, therefore, the grinding force can be effectively controlled, and further the six-axis mechanical arm can be adjusted by controlling the movement of the six-axis mechanical arm; and the elastic mechanism 5 can slow down the vibration effect and reduce the grinding noise when grinding, and meanwhile, the workpiece 7 is effectively protected.
In one embodiment, the pressure detection mechanism 6 includes: a working cavity 311 is formed in the inner side of the end part of the fixed sleeve 322 of the six-shaft mechanical arm 610, the rotating disc 610 is rotatably connected in the working cavity 311, an arc-shaped resistance strip 611 which is concentric with the rotating disc 610 is arranged on the rotating disc 610, a conducting rod 620 is arranged on one side of the working cavity 311, and the conducting rod 620 is electrically connected with the arc-shaped resistance strip 611;
a gear 612 is arranged at the center of the rotating disc 610, racks 630 are respectively meshed and connected to two sides of the gear 612, a sliding block 640 is arranged at one end, away from the gear 612, of each rack 630, a sliding rod 650 is arranged at one side, away from the rack 630, of each sliding block 640, each sliding rod 650 penetrates through the working cavity 311, a roller 660 is arranged at one end, away from the corresponding sliding block 640, of each sliding rod 650, each roller 660 abuts against the side wall of the corresponding conical hole of the corresponding fixed sleeve 322, a first spring 670 is connected between each sliding block 640 and the side wall of the corresponding working cavity 311, and the first spring 670 is sleeved on the outer side of each sliding rod 650;
The working principle and the beneficial effects of the technical scheme are as follows: when the grinding machine 330 is not in contact with the workpiece 7, the second spring 560 is in a natural contraction state, the top of the fixing sleeve 322 is located at the extreme end of the chute outside the end part of the six-shaft mechanical arm, the roller 660 is located at the upper end of the tapered hole, at this time, the resistance value of the conductive rod 620 electrically connected with the arc-shaped resistor strip 611 is minimum, the resistance value at this time is recorded as an initial resistance value, and then when grinding is performed, the second spring 560 is in a natural contraction stateWhen the grinding machine 330 is in contact with the workpiece 7 to adjust the grinding force, as the distance between the six-axis mechanical arm and the inner bottom of the fixing sleeve 322 is reduced, the first hinge rod 510 and the second hinge rod 530 are driven to move, so that the distance between the two hinge shafts 540 is increased, the second spring 560 is stretched, so that the elastic mechanism 5 exerts an acting force on the grinding machine 330, and further the grinding force between the grinding machine 330 and the surface of the workpiece 7 is increased, meanwhile, the roller 660 moves towards the bottom of the fixing sleeve 322 along the tapered hole, under the limit of the tapered hole, the roller 660 is squeezed to drive the sliding rod 650, the sliding block 640 and the rack 630 to move towards one side close to the working cavity 311, the rack 630 moves to drive the gear 612 to rotate, and further drive the rotating disc 610 to rotate counterclockwise, so that the resistance values of the arc-shaped resistance strips 611 and the conductive blocks are increased, and simultaneously, the first spring 670 is stretched to exert an elastic acting force on the roller 660, further, the roller 660 elastically abuts against the tapered hole, and the elastic acting force between the six-axis mechanical arm and the polisher 330 is further increased, so that the polishing force between the polisher 330 and the workpiece 7 is increased, and it can be inferred that the larger the resistance value of the arc-shaped resistor strip 611 is, the larger the polishing force of the polisher 330 is, and the larger the resistance value of the arc-shaped resistor strip 611 is, the linear relationship is formed between the acting force of the first spring 670 and the acting force of the second spring 560 on the six-axis mechanical arm and the axial direction of the polisher 330, and the relationship can be expressed as F ═ epsilon (r ∈) 1 -r 0 ) Wherein F is the grinding force, r 1 For adjusted resistance, r 0 Is an initial resistance value, r 1 -r 0 To switch in a varying resistance, ε is the transfer coefficient associated with first spring 670 and second spring 560; therefore, the grinding force can be adjusted by adjusting the resistance value connected to the arc-shaped resistor strip 611; and when using at every turn, initial resistance probably all is inequality, because first spring 670 and second spring 560 live time for a long time, its elasticity can change, consequently, reflects the dynamics of polishing more accurate through the resistance that changes to can also carry out the early warning to the use elasticity of spring, play multiple effect.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. A fully automated grinding workstation, comprising: the polishing machine comprises a protective outer cover (1), wherein a rotary workbench (2) used for fixing a workpiece (7) is arranged in the protective outer cover (1), an intelligent constant-force polishing system (3) used for polishing the workpiece (7) is arranged on one side of the rotary workbench (2), an intelligent polishing consumable management system (4) used for storing polishing consumables (8) is arranged on one side of the intelligent constant-force polishing system (3), and the polishing consumables (8) on the intelligent constant-force polishing system (3) are replaced through the intelligent polishing consumable management system (4);
the intelligent constant-force grinding system (3) comprises: the polishing machine comprises a robot (310), an intelligent constant force device (320), a polishing machine (330) and polishing consumables (8), wherein the robot (310) comprises six mechanical arms, the end parts of the six mechanical arms are connected with the polishing machine (330) through the intelligent constant force device (320), and replaceable polishing consumables (8) are attached to a rotary table (331) of the polishing machine (330);
the intelligent constant-force device (320) comprises a corrugated sleeve (321), one end of the corrugated sleeve (321) is fixedly connected with the end part, close to the grinding machine (330), of the six-axis mechanical arm, and the other end of the corrugated sleeve (321) is fixedly connected with a mounting frame (332) of the grinding machine (330);
a fixing sleeve (322) is arranged in the corrugated sleeve (321) and on one side, close to the six-axis mechanical arm, of the mounting frame (332), the top end of the fixing sleeve (322) is connected with the outer side of the end part of the six-axis mechanical arm in a sliding mode, an elastic mechanism (5) is arranged in the fixing sleeve (322), and the elastic mechanism (5) is connected between the inner bottom surface of the fixing sleeve (322) and the end part of the six-axis mechanical arm;
six arms are located tip in fixed cover (322) is equipped with pressure detection mechanism (6), the inside of fixed cover (322) is the bell mouth, the bell mouth is close to the one end diameter of six arms is greater than its other end diameter, pressure detection mechanism (6) stretch out the both ends that six arms set up with the lateral wall elasticity butt of bell mouth, pressure detection mechanism (6) stretch out through detecting its both ends the distance of six arms is right the pressure of polisher (330) and work piece (7) contact carries out the constant force control.
2. The fully automated grinding workstation of claim 1, wherein the intelligent grinding consumables management system (4) comprises: storage device (410), stripping off device (420) and the consumptive material detection device (430) of polishing, storage device (410) are used for storing different types of consumptive material (8) of polishing respectively, stripping off device (420) be used for with the consumptive material (8) of polishing on the intelligence constant force system of polishing (3) take off, the consumptive material detection device (430) of polishing is used for detecting the consumptive material (8) of polishing on the intelligence constant force system of polishing (3) have or not.
3. The full-automatic grinding workstation according to claim 1, characterized in that an automatic door and a safety detection device are arranged on the protective housing (1), the automatic door is controlled to be opened or closed through a button, and the automatic door can be automatically opened when the grinding of the workpiece (7) is completed and the equipment in the protective housing (1) stops running;
when the equipment in the protective outer cover (1) is in a working state, the safety detection device is used for detecting whether personnel enter an equipment working area or not, and if the personnel enter the equipment working area, the equipment in the protective outer cover (1) is controlled to stop running;
a closed space is formed in the protective outer cover (1), and a dust collecting device is arranged in the protective outer cover and used for collecting dust in the protective outer cover (1).
4. A fully automated grinding station according to claim 1, characterized in that the rotary table (2) comprises: the device comprises a rotary platform (210), a clamp quick-change device (220) and a flexible positioning clamp (230), wherein the rotary platform (210) is rotatably arranged in a designated safe area in the protective housing (1) through a rotating device and is matched with the intelligent constant-force polishing system (3) to polish a workpiece (7), and the flexible positioning clamp (230) is detachably connected to the rotary platform (210) through the clamp quick-change device (220);
the flexible positioning clamp (230) comprises: the bottom of the fixed table (231) is fixedly connected with the rotating platform (210) through the clamp quick-change device (220), a plurality of movable tables (234) are arranged on the fixed table (231), a plurality of positioning blocks (232) and a plurality of clamping blocks (233) are arranged on the movable tables (234), limiting holes corresponding to the positioning blocks (232) are formed in the bottom of the workpiece (7), and the positioning blocks (232) are used for supporting and positioning the workpiece (7) and are matched with the clamping blocks (233) to fix the workpiece (7);
the position of the movable platen (234) on the fixed table (231) is adjusted according to the length of the workpiece (7);
the number and position of the positioning blocks (232) and the number and position of the clamping blocks (233) are adjusted by the shape and size of the workpiece (7).
5. The fully automated grinding workstation according to claim 2, characterized in that said storage means (410) comprise a plurality of storage bins, in which different kinds of grinding consumables (8) are stored respectively, and an automatic door cover (411), said automatic door cover (411) being used to open or close said storage bins;
the storage device (410) is further provided with a material shortage early warning system, and the material shortage early warning system is used for detecting whether the polishing consumables (8) in the storage bins need material supplement or not.
6. The fully automated grinding workstation according to claim 5, characterized in that the storage bin comprises a storage cylinder (412) and a separating cylinder (413), a movable plate is slidably arranged in the storage cylinder (412), a telescopic mechanism is arranged at the bottom of the movable plate, the grinding consumables (8) are arranged in the storage cylinder (412) in a stacking mode and are positioned on the movable plate, and the telescopic mechanism controls the top surfaces of the grinding consumables (8) arranged in the stacking mode to be positioned at a preset height and be lower than the top end of the storage cylinder (412);
the separating cylinder (413) is arranged at the top of the storage cylinder (412), a friction layer (414) is arranged on the inner wall of the separating cylinder (413), the inner diameter of the storage cylinder (412) is larger than the inner diameter of the separating cylinder (413) provided with the friction layer (414), and the diameter of the polishing consumable (8) is larger than the inner diameter of the separating cylinder (413) provided with the friction layer (414).
7. The fully automated polishing workstation according to claim 2, wherein the polishing consumable detection device (430) comprises a color sensor, the color of the surface of the intelligent constant force polishing system (3) installed with the polishing consumable (8) is different from the color of the polishing consumable (8), and the presence or absence of the polishing consumable (8) is determined by detecting the color of the surface of the intelligent constant force polishing system (3) installed with the polishing consumable (8) through the color sensor.
8. A fully automated grinding workstation according to claim 1, characterized in that the pressure detection mechanism (6) comprises: the six-shaft mechanical arm is provided with a working cavity (311) on the inner side of the end part of the fixed sleeve (322), the rotating disc (610) is rotatably connected in the working cavity (311), an arc-shaped resistance strip (611) concentrically arranged with the rotating disc (610) is arranged on the rotating disc (610), one side of the working cavity (311) is provided with a conducting rod (620), and the conducting rod (620) is electrically connected with the arc-shaped resistance strip (611);
a gear (612) is arranged at the center of the rotating disc (610), racks (630) are respectively meshed and connected to two sides of the gear (612), a sliding block (640) is arranged at one end, far away from the gear (612), of each rack (630), a sliding rod (650) is arranged at one side, far away from the corresponding rack (630), of each sliding block (640), each sliding rod (650) penetrates through the corresponding working cavity (311), a roller (660) is arranged at one end, far away from the corresponding sliding block (640), of each sliding rod (650), each roller (660) is abutted to the side wall of the corresponding conical hole of the corresponding fixed sleeve (322), a first spring (670) is connected between each sliding block (640) and the side wall of the corresponding working cavity (311), and each first spring (670) is sleeved on the outer side of each sliding rod (650);
elastic mechanism (5) include first articulated rod (510) that two symmetries set up, the one end and the setting of first articulated rod (510) are in the first connecting block (520) of six arm tip are articulated, the other end of first articulated rod (510) is articulated through articulated shaft (540) with the one end of second articulated rod (530), the other end and the setting of second articulated rod (530) are in second connecting block (550) of bottom are articulated in fixed cover (322), two the tip of articulated shaft (540) passes through second spring (560) and connects.
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Denomination of invention: A fully automated polishing workstation Effective date of registration: 20230719 Granted publication date: 20220823 Pledgee: Guangdong Shunde Rural Commercial Bank Co.,Ltd. science and technology innovation sub branch Pledgor: Guangdong Xirui Intelligent Technology Co.,Ltd. Registration number: Y2023980049010 |
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