CN114523376A - Full-automatic helmet polishing equipment - Google Patents
Full-automatic helmet polishing equipment Download PDFInfo
- Publication number
- CN114523376A CN114523376A CN202210423840.3A CN202210423840A CN114523376A CN 114523376 A CN114523376 A CN 114523376A CN 202210423840 A CN202210423840 A CN 202210423840A CN 114523376 A CN114523376 A CN 114523376A
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- Prior art keywords
- helmet
- grinding
- grinding device
- servo motor
- trimming
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Classifications
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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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/20—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of plastics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/38—Cutting-off equipment for sprues or ingates
- B29C45/382—Cutting-off equipment for sprues or ingates disposed outside the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/48—Wearing apparel
- B29L2031/4807—Headwear
- B29L2031/4814—Hats
- B29L2031/4821—Helmets
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to the technical field of helmet polishing process equipment, and particularly provides full-automatic helmet polishing equipment, which comprises a coarse grinding device, a trimming device and a fine grinding device; the coarse grinding device is used for grinding the helmet rough blank on the injection molding machine to remove rough blank flaws, then transferring the helmet rough blank from the injection molding machine to the trimming device, and after finishing trimming the injection molding water gap, transferring the helmet rough blank to a station table of the fine grinding device; the trimming device is used for trimming the injection molding water gap of the helmet rough blank; the fine grinding device is used for finely grinding the surface of the helmet. According to the invention, the coarse grinding device is used for carrying out primary grinding and station transfer, the trimming device is used for trimming the injection nozzle, and the fine grinding device is used for carrying out secondary grinding, so that the automation of helmet grinding is realized, the grinding efficiency and the grinding quality are improved, the manual intervention is reduced, the adverse effect of human factors is avoided, the consistency and the stability of the grinding quality are maintained, the yield is improved, tools and consumables are reduced, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of helmet polishing process equipment, in particular to full-automatic helmet polishing equipment.
Background
The helmet is a harness for protecting the head, is usually worn on the head to play a role in protecting when soldiers train and fight or people transport and move, and can be divided into military helmets, police helmets, civil helmets and the like, and the civil helmets can be divided into riding helmets or sport helmets. The helmet is in a semicircular shape, wherein the sports helmet has different shapes according to different sports and different purposes, and comprises a half helmet, a full helmet, a uncovering helmet, a cross-country road dual-purpose helmet and the like. The helmet is mainly composed of an outer shell, a lining and a suspension device. The helmet shell can be made of special steel, glass fiber reinforced plastic, leather, nylon and other materials respectively so as to resist the damage of bullets, elastic sheets and other striking objects to the head. The helmet may be designed with a number of holes or channels for the purpose of heat dissipation, drainage, pressure relief, etc. The helmet is generally manufactured by injection molding, grinding, coating, carving and assembling.
After a helmet rough blank is formed by injection molding of a helmet shell, polishing is needed, and the existing polishing process flow is scraper parting line removal → 240-mesh abrasive paper dry grinding → 600-mesh abrasive paper water grinding → helmet full-coverage fine grinding.
At present, the helmet polishing mainly adopts manual polishing, and a handheld electric polishing tool is used, so that the polishing environment is severe, the labor intensity of workers is high, the polishing efficiency is low, the polishing quality difference is large, the quality qualification rate is low, and the quality is unstable; the tool and consumable loss is large.
Disclosure of Invention
In order to solve the technical problem, the invention provides full-automatic helmet polishing equipment which comprises a coarse grinding device, a trimming device and a fine grinding device, wherein the fine grinding device comprises a grinding wheel, a grinding wheel and a grinding wheel;
the coarse grinding device is used for grinding the helmet rough blank on the injection molding machine to remove rough blank flaws, then transferring the helmet rough blank from the injection molding machine to the trimming device, and after finishing trimming the injection water gap, transferring the helmet rough blank to a station table of the fine grinding device;
the trimming device is used for trimming an injection molding water gap of a helmet rough blank;
the fine grinding device is used for finely grinding the surface of the helmet.
Optionally, the rough grinding device comprises a first mechanical arm, a frosted carton and a sucker gripper arranged at the end of the first mechanical arm;
the sanding paper box is used for storing sanding paper for sanding;
the sucker grippers are used for sucking abrasive paper from the abrasive paper box to polish the helmet rough blank, and then gripping and transferring the helmet rough blank on the injection molding machine.
Optionally, the fine grinding device comprises a station table, a second mechanical arm and a grinding mechanism arranged at the end of the second mechanical arm;
the station table is provided with a positioning clamp which is used for fixing the helmet;
the positioning fixture comprises an upright post and a plurality of fixing rods, the bottom of the upright post is fixedly connected with the upper surface of the station table, one end of each fixing rod is welded with the top of the upright post, the other end of each fixing rod is provided with an external thread, and the other end of each fixing rod is used for penetrating through a hole of a helmet to be fixed;
the second mechanical arm is used for moving the polishing mechanism to a position of the helmet to be polished;
the grinding mechanism is used for grinding the positions, needing to be ground, of the helmet.
Optionally, the suction cup gripper is provided with a vacuum pump, the suction cup gripper sucks the abrasive paper out of the abrasive paper box through vacuum suction force generated by the vacuum pump, and the helmet is polished by the abrasive paper; or the helmet is sucked by a sucker gripper to transfer the helmet.
Optionally, the polishing mechanism comprises a driving motor and a polishing turntable, the polishing turntable is fixedly connected with an output shaft of the driving motor, and the polishing turntable is driven by the output shaft of the driving motor to rotate and contacts with a position of the helmet to be polished to rub against each other to polish.
Optionally, the fully-automatic helmet polishing equipment further comprises a water spraying device, wherein the water spraying device comprises a water tank, a nozzle frame, a water supply hose and an atomizing nozzle; the water outlet of the water tank is connected with the atomizing nozzle through a water supply hose; the atomizing nozzle is used for spraying water to the outer surface of the helmet during polishing;
the water tank is provided with a water replenishing port, the water replenishing port is connected with a water source through a pipeline, and a ball float valve is installed on the inner side of the water tank at the water replenishing port.
Optionally, a rotating ring surrounding the positioning fixture is arranged on the station table, and the bottom of the nozzle frame is fixed on the upper surface of the rotating ring;
the rotary grab is fixedly connected with the lower surface of the rotary grab, penetrates through the semi-annular through hole and extends to the lower surface of the station table, and is in transmission connection with a first servo motor arranged below the station table;
the spray head frame comprises a support frame, a second servo motor, a support rod and a fixing clamp; the bottom of the support frame is arranged at the upper end of the rotating ring, the upper end of the support frame is provided with a U-shaped groove, the support rod is positioned in the U-shaped groove, two ends of the support rod are arranged on the support frame through bearings, the second servo motor is arranged on the support frame, and the second servo motor is in transmission connection with the support rod;
the fixing clamp is annular and comprises an upper half clamping ring and a lower half clamping ring, the lower half clamping ring is fixedly arranged on the supporting rod in the U-shaped groove, one end of the upper half clamping ring is connected with one end of the lower half clamping ring through a hinge, the other end of the upper half clamping ring and the other end of the lower half clamping ring can be opened or closed, and the fixing clamp is used for mounting the atomizing nozzle;
the first servo motor and the second servo motor can rotate positively and negatively.
Optionally, a pin shaft is fixedly arranged at the bottom of the support frame, and the pin shaft is rotatably mounted at the upper end of the rotating ring; the upper end of the rotating ring is fixedly provided with a third servo motor, and the third servo motor is in transmission connection with the pin shaft; the third servo motor can rotate forward and backward.
Optionally, the support frame comprises a support seat and a lifting frame, the support seat is provided with a hollow cavity, the hollow cavity is provided with a rotating shaft through a bearing, and a first bevel gear is fixed at the bottom end of the rotating shaft; a fourth servo motor is fixedly installed on the outer side of the supporting seat, a rotating shaft of the fourth servo motor extends into the hollow cavity and is fixedly provided with a second bevel gear, and the second bevel gear is meshed with the first bevel gear; the upper end of the rotating shaft is provided with an outer spiral rod, the bottom of the lifting frame is provided with a vertical inner spiral hole and a guide hole, the outer spiral rod is matched and connected with the inner spiral hole, a guide rod is fixed on the upper surface of the supporting seat, and the guide rod is inserted into the guide hole; the fourth servo motor can rotate forward and backward.
Optionally, the fully-automatic helmet polishing equipment further comprises a control system, wherein the control system comprises a PLC control panel and a CCD camera, and the PLC control panel comprises a main control chip, an image recognition module, a positioning module and an execution module;
the main control chip is respectively connected with the image recognition module, the positioning module and the execution module, and the image recognition module is connected with the CCD camera;
the CCD camera is used for acquiring a real-time image of helmet polishing processing;
the image identification module is used for identifying a real-time image;
the positioning module is used for positioning the helmet according to the identification of the real-time image;
the main control chip is used for processing data and generating a control instruction;
the execution module is respectively connected with the coarse grinding device, the trimming device, the fine grinding device and the injection molding machine; the PLC control panel is used for the cooperative control of the rough grinding device, the trimming device, the fine grinding device and the injection molding machine, and the helmet is transferred, positioned and polished.
According to the fully-automatic helmet polishing equipment, the coarse grinding device, the trimming device and the fine grinding device are arranged, the coarse grinding device is used for polishing once on the injection molding machine, the coarse grinding device is used for station transfer of helmet rough blanks, the trimming device is used for injection water gap trimming, and the fine grinding device is used for secondary polishing, so that the automation of helmet polishing is realized, the polishing efficiency and the polishing quality are improved, the manual intervention is reduced, the adverse influence of human factors is avoided, the consistency and the stability of the polishing quality are maintained, the yield is improved, tools and consumables are reduced, and the production cost is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
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 top view of a fully automated helmet grinding apparatus in an embodiment of the present invention;
fig. 2 is a schematic perspective view of a first robot arm and a suction cup gripper employed in a rough grinding device in an embodiment of a fully automated helmet grinding apparatus of the present invention;
fig. 3 is a schematic perspective view of a second mechanical arm and a polishing mechanism employed in the fine polishing device in the embodiment of the fully automated helmet polishing apparatus of the present invention;
FIG. 4 is a schematic structural diagram of a station table, a positioning fixture and a rotating ring adopted by a fine grinding device in an embodiment of the fully-automatic helmet grinding equipment of the present invention;
FIG. 5 is a schematic cross-sectional view A-A of FIG. 4;
FIG. 6 is a schematic structural diagram of a water spraying device used in an embodiment of the fully automated helmet polishing apparatus of the present invention;
fig. 7 is a schematic structural diagram of a nozzle head of a water spraying device adopted by an embodiment of the fully-automatic helmet polishing device of the invention;
fig. 8 is a schematic structural diagram of a support frame of a spray head frame adopted by a water spray device in an embodiment of the fully automatic helmet polishing device of the invention;
fig. 9 is a schematic structural diagram of a control system adopted in an embodiment of the fully automated helmet polishing apparatus according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1 to 3, the embodiment of the present invention provides a fully automated helmet grinding apparatus, which includes a rough grinding device 1, a trimming device 2, and a fine grinding device 3;
the rough grinding device 1 is used for grinding helmet rough blanks on an injection molding machine to remove rough blank flaws, then transferring the helmet rough blanks from the injection molding machine 6 to the trimming device 2, and after finishing trimming an injection water gap, transferring the helmet rough blanks to a station table 31 of the fine grinding device 3;
the trimming device 2 is used for trimming an injection molding water gap of a helmet rough blank;
the fine grinding device 3 is used for finely grinding the surface of the helmet; after the fine grinding is completed, the helmet is transferred to the conveying mechanism 7 by the rough grinding device to enter the next process.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the coarse grinding device, the trimming device and the fine grinding device are arranged, the coarse grinding device is used for carrying out primary grinding on the injection molding machine, the coarse grinding device is used for carrying out station transfer on a helmet rough blank, the trimming device is used for carrying out injection water gap trimming, the fine grinding device is used for carrying out secondary grinding, automation of helmet grinding is achieved, grinding efficiency and grinding quality are improved, manual intervention is reduced, adverse effects of human factors are avoided, consistency and stability of grinding quality are kept, yield is improved, tools and consumables are reduced, and production cost is reduced; barriers 8 can be arranged at the periphery of the coarse grinding device, the trimming device and the fine grinding device for preventing personnel from entering and preventing dust from spreading.
In one embodiment, as shown in fig. 1 and 2, the rough grinding device 1 comprises a first robot arm 11, a frosted carton 12, and a suction cup gripper 13 disposed at the end of the first robot arm 11;
the sanding paper box 12 is used for storing sanding paper for sanding;
the suction cup gripper 13 is used for sucking abrasive paper from the abrasive paper box 12 to polish the helmet rough blank, and then gripping and transferring the helmet rough blank on the injection molding machine.
The working principle and the beneficial effects of the technical scheme are as follows: this scheme has the first arm of sucking disc tongs as the essential element of corase grind device, through the cooperation of first arm and sucking disc tongs, can realize automatically polishing the helmet rough blank with abrasive paper and snatch the helmet rough blank and carry out actions such as station transfer, avoids different actions to set up the condition that different mechanisms caused the equipment part multi-structure complicacy to increase the control degree of difficulty, can simplify and arrange and operate, and the workman of being convenient for masters operation technology more soon.
In one embodiment, as shown in fig. 1, 3, 4 and 5, the fine grinding device 3 includes a station 31, a second robot arm 32, and a grinding mechanism 33 disposed at an end of the second robot arm 32;
a positioning clamp 34 is arranged on the station table 31, and the positioning clamp 34 is used for fixing a helmet;
the positioning fixture 34 comprises an upright column and a plurality of fixing rods, the bottom of the upright column is fixedly connected with the upper surface of the station table 31, one end of each fixing rod is welded with the top of the upright column, the other end of each fixing rod is provided with an external thread, and the other end of each fixing rod is used for penetrating through a hole of a helmet for fixing;
the second mechanical arm 32 is used for moving the grinding mechanism 33 to a position of the helmet to be ground;
the grinding mechanism 33 is used for grinding positions of the helmet, which need to be ground.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the second mechanical arm provided with the polishing mechanism is used for finely polishing the helmet, the positioning clamp is arranged on the station table to position and fix the helmet, so that the situation that the position of a part to be polished is not polished due to slippage of the helmet during polishing is avoided, the positioning and fixing of the positioning clamp on the helmet take the characteristic that the helmet has holes into consideration, the existing hole design is fully utilized, and the situation that the helmet design needs to be specially modified for a process is avoided; the other end of the fixed rod is provided with an external thread to increase friction force, so that the holes of the helmet are prevented from sliding; wherein, the stand has promoted the dead lever for the height of station bench surface for there is the hole position to suit in the height of each dead lever and helmet itself, thereby reduces the length of each fixed lever, reduces positioning fixture materials, alleviates positioning fixture weight.
In one embodiment, the sucker gripper is provided with a vacuum pump, the sucker gripper sucks abrasive paper out of the abrasive paper box through vacuum suction force generated by the vacuum pump, and the helmet is ground by the abrasive paper; or the helmet is sucked by a sucker gripper to transfer the helmet.
The working principle and the beneficial effects of the technical scheme are as follows: this scheme is through setting up the vacuum pump to the vacuum suction that the vacuum pump produced for the sucking disc tongs can be sucked abrasive paper by the dull polish carton and take out and be used for polishing the helmet, and hold the helmet with the sucking disc tongs and shift the helmet, adopt the absorption mode can avoid causing the damage to abrasive paper or helmet, can reduce the material extravagant, improve the yields that the helmet was polished, save the cost.
In one embodiment, as shown in fig. 3, the grinding mechanism 33 includes a driving motor 331 and a grinding turntable 332, the grinding turntable 332 is fixedly connected to an output shaft of the driving motor 331, and the grinding turntable 332 is driven by the output shaft of the driving motor 331 to rotate and contact with a position of the helmet to be ground to rub against each other to grind.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the driving motor is arranged to drive the polishing turntable to rotate, so that the helmet is polished, the polishing turntable can be made of a polishing wheel made of rubber nylon materials, polishing is more precise, and the surface of the polished helmet is smoother; wherein, the driving motor can adopt the electrodynamic type, also can adopt the pneumatic type, selects according to customer's needs to adapt to the current power of customer's mill, avoid needing to set up special power and increase the investment for polishing.
In one embodiment, as shown in fig. 6, the fully automated helmet grinding apparatus further comprises a water spraying device 4, wherein the water spraying device 4 comprises a water tank 41, a spray head frame 43, a water supply hose 42 and an atomizing spray head 44; the water outlet of the water tank 41 is connected with an atomizing spray head 44 through a water supply hose 42; the atomizing nozzle 44 is used for spraying water to the outer surface of the helmet during polishing;
the water tank 41 is provided with a water replenishing port 45, the water replenishing port 45 is connected with a water source through a pipeline, and a ball float valve 46 is arranged on the inner side of the water tank 41 of the water replenishing port 45;
as shown in fig. 4 and 5, a rotating ring 35 surrounding the positioning jig 34 is provided on the station 31, and the bottom of the nozzle holder 43 is fixed to the upper surface of the rotating ring 35;
two semi-annular through holes 311 are formed in the station table 31 and surround the positioning clamp 34, the lower surface of the rotating ring 35 is fixedly connected with a rotating grab 36, the rotating grab 36 penetrates through the semi-annular through holes 311 to extend to the lower surface of the station table 31, and the rotating grab 36 is in transmission connection with a first servo motor 37 arranged below the station table 31;
as shown in fig. 7, the nozzle holder 43 includes a support frame 431, a second servo motor 432, a support rod 433, and a fixing clip 434; the bottom of the support frame 431 is installed at the upper end of the rotating ring 35, the upper end of the support frame 431 is provided with a U-shaped groove 435, the support rod 433 is positioned in the U-shaped groove 435, two ends of the support rod 433 are installed on the support frame 431 through bearings, the second servo motor 432 is installed on the support frame 431, and the second servo motor 432 is in transmission connection with the support rod 433;
as shown in fig. 7, a pin 436 is fixedly disposed at the bottom of the supporting frame 431, and the pin 436 is rotatably mounted at the upper end of the rotating ring 35; a third servo motor is fixedly mounted at the upper end of the rotating ring 35, and is in transmission connection with a pin 436;
as shown in fig. 8, the supporting frame 431 includes a supporting base 437 and a lifting frame 438, the supporting base 437 is provided with a hollow cavity, the hollow cavity is provided with a rotating shaft 47 through a bearing, and a first bevel gear 471 is fixed at the bottom end of the rotating shaft 47; a fourth servo motor 48 is fixedly installed on the outer side of the supporting seat 437, a rotating shaft of the fourth servo motor 48 extends into the hollow cavity and is fixed with a second bevel gear 481, and the second bevel gear 481 is meshed with the first bevel gear 471; the upper end of the rotating shaft 47 is provided with an outer spiral rod, the bottom of the lifting frame 438 is provided with a vertical inner spiral hole and a guide hole, the outer spiral rod is matched and connected with the inner spiral hole, the upper surface of the supporting seat 437 is fixed with a guide rod 49, and the guide rod 49 is inserted into the guide hole;
the first servo motor 37, the second servo motor 432, the third servo motor and the fourth servo motor 48 can rotate positively and negatively;
the fixation clamp 434 is annular, including first half snap ring and second half snap ring, second half snap ring fixed mounting is on the bracing piece 433 of U-shaped groove 435, the one end of first half snap ring adopts hinged joint with the one end of second half snap ring, the other end of first half snap ring and the other end of second half snap ring can open or be closed, the fixation clamp 434 is used for installing atomizer 44.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the water spraying device is arranged, so that water is sprayed to the helmet during polishing, and on one hand, the polishing is lubricated, so that the surface of the polished helmet is smoother; on the other hand, the dust generation condition in the polishing process is reduced, and the dust pollution is reduced; the water spraying device adopts an atomizing nozzle, so that sprayed water drops are more finely crushed to form a fog shape, dust formed in polishing can not be diffused, and dust pollution in the polishing process is further reduced; the spray head frame is arranged and installed on a rotating ring of the station platform, the atomizing spray head is installed on the spray head frame, the atomizing spray head is installed in a clamping mode through an upper half clamping ring and a lower half clamping ring of a fixing clamp, and the rotating ring rotates around a helmet fixed on a positioning clamp to spray water for 360 degrees in the horizontal direction of the helmet without dead angles; the spray head frame is provided with the lifting frame, so that the water spraying height can be adjusted, and the requirements of different types of positioning fixtures and helmet polishing are met; the second servo motor is arranged to drive the supporting rod to rotate, so that the atomizing nozzle can adjust the water spraying direction, and the water waste caused by the deviation of the water spraying direction is avoided; the bottom of the support frame is fixed at the upper end of the rotating ring through a pin shaft, the pin shaft is driven to rotate by using a third servo motor, the spray head frame can realize the state conversion between vertical and horizontal states, and when water needs to be sprayed, the spray head frame is vertical to the station table, so that the omnibearing water spraying on the helmet is realized; when water spraying is stopped, the spray head frame can be horizontally attached to the station table, and the spray head frame is prevented from interfering with the polishing work of the second mechanical arm and the polishing mechanism; this scheme can promote meticulous polishing, can also reduce dust pollution, can avoid again to the interference of polishing to improve the efficiency of polishing.
In one embodiment, as shown in fig. 9, the fully automated helmet grinding apparatus further comprises a control system 5, wherein the control system 5 comprises a PLC control board 51 and a CCD camera 52, and the PLC control board 51 comprises a main control chip 511, an image recognition module 512, a positioning module 513 and an execution module 514;
the main control chip 511 is respectively connected with an image recognition module 512, a positioning module 513 and an execution module 514, and the image recognition module 512 is connected with the CCD camera 52;
the CCD camera 52 is used for acquiring a real-time image of helmet polishing processing;
the image recognition module 512 is configured to recognize a real-time image;
the positioning module 513 is configured to perform helmet positioning according to the recognition of the real-time image;
the main control chip 511 is used for processing data and generating a control instruction;
the execution module 514 is respectively connected with the rough grinding device 1, the trimming device 2, the fine grinding device 3 and the injection molding machine 6; the PLC control panel 51 is used for cooperative control of the rough grinding device 1, the trimming device 2, the fine grinding device 3 and the injection molding machine 6, and realizes transfer, positioning and grinding of the helmet.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, the whole process of polishing the helmet is cooperatively controlled through the control system, so that full automation of polishing is realized; the CCD camera, the image recognition module and the positioning module are arranged for positioning control, so that the transferring and positioning accuracy of the helmet in the technological process can be improved, and the master control chip is used for controlling the overall situation so as to realize the high efficiency of the cooperativity of control.
In one embodiment, as shown in fig. 9, the main control chip 511 is connected with an evaluation module 515, and a polishing quality evaluation model is built in the evaluation module 515; the image recognition module 512 is used for recognizing the surface image of the ground helmet, which is acquired by the CCD camera 52;
the grinding quality evaluation model evaluates the surface smoothness index of the ground helmet by adopting the following formula according to the identification of the surface image:
in the above formula, the first and second carbon atoms are,
representing the surface smoothness index of the polished helmet;
pixel coordinate points representing a surface image of the helmet;
a surface image area representing a helmet;
all pixel coordinate points representing surface image areas of the exhausted helmet;
surface image representing helmet and
adjacent pixel coordinate points;
a luminance value representing a surface image;
pixel coordinate points representing a surface image of a helmet
The brightness value of (a);
representing pixel coordinate points
Adjacent pixel coordinate points of
The brightness value of (a);
a chromaticity value representing a surface image;
pixel coordinate points representing a surface image of a helmet
The colorimetric value of (a);
representing pixel coordinate points
Adjacent pixel coordinate points of
A chromaticity value of (d);
a banded spectral value representing a surface image;
image representing surface image of helmetPixel coordinate point
The sub-band spectral value of (1);
representing pixel coordinate points
Adjacent pixel coordinate points of
The sub-band spectral value of (1);
if the calculated surface smoothness index of the helmet is not less than a set threshold, the helmet is polished to meet the requirement; otherwise, the helmet needs to be supplemented and finely ground.
The working principle and the beneficial effects of the technical scheme are as follows: according to the scheme, an evaluation module is arranged, a polishing quality evaluation model is established in the evaluation module, the surface image of the polished helmet is acquired through a CCD camera, and the image recognition module is used for recognizing the surface image to determine the corresponding surface image area of the helmet; then, a grinding quality evaluation model is adopted to evaluate the grinding quality of the helmet, the surface smoothness index of the ground helmet is calculated by adopting the formula during evaluation, and the grinding quality is judged by using the surface smoothness index and a set threshold value, so that the grinding quality is quantitatively analyzed and evaluated, and the objectivity and uniformity of quality evaluation are improved; the formula takes the surface image area of the helmet as an analysis object, and reflects the surface condition by using all pixel coordinate points of the surface image area of the helmet and the image parameter contrast numerical value of each pixel coordinate point and the adjacent pixel coordinate point; this scheme can further improve the yields that the helmet was polished.
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. The full-automatic helmet polishing equipment is characterized by comprising a coarse grinding device, a trimming device and a fine grinding device;
the coarse grinding device is used for grinding the helmet rough blank on the injection molding machine to remove rough blank flaws, then transferring the helmet rough blank from the injection molding machine to the trimming device, and after finishing trimming the injection water gap, transferring the helmet rough blank to a station table of the fine grinding device;
the trimming device is used for trimming an injection molding water gap of a helmet rough blank;
the fine grinding device is used for finely grinding the surface of the helmet.
2. The fully automated helmet grinding apparatus of claim 1, wherein the rough grinding device comprises a first robot arm, a sanding carton, and a suction cup gripper disposed at an end of the first robot arm;
the sanding paper box is used for storing sanding paper for sanding;
the sucker grippers are used for sucking abrasive paper from the abrasive paper box to polish the helmet rough blank, and then gripping and transferring the helmet rough blank on the injection molding machine.
3. The fully automated helmet grinding apparatus of claim 1, wherein the fine grinding device comprises a workstation, a second robot arm, and a grinding mechanism disposed at an end of the second robot arm;
the station table is provided with a positioning clamp which is used for fixing the helmet;
the positioning fixture comprises an upright post and a plurality of fixing rods, the bottom of the upright post is fixedly connected with the upper surface of the station table, one end of each fixing rod is welded with the top of the upright post, the other end of each fixing rod is provided with an external thread, and the other end of each fixing rod is used for penetrating through a hole of a helmet to be fixed;
the second mechanical arm is used for moving the polishing mechanism to a position of the helmet to be polished;
the grinding mechanism is used for grinding the positions, needing to be ground, of the helmet.
4. The fully automated helmet grinding apparatus of claim 2, wherein the suction cup gripper is equipped with a vacuum pump, and the vacuum suction force generated by the vacuum pump causes the suction cup gripper to suck abrasive paper out of the grinding carton and grind the helmet with the abrasive paper; or the helmet is sucked by a sucker gripper to transfer the helmet.
5. The full-automatic helmet grinding device according to claim 3, wherein the grinding mechanism comprises a driving motor and a grinding turntable, the grinding turntable is fixedly connected with an output shaft of the driving motor, and the grinding turntable is driven by the output shaft of the driving motor to rotate and contact with a position of the helmet to be ground to rub against each other to realize grinding.
6. The fully automated helmet buffing apparatus according to claim 3 further comprising a water spray device comprising a water tank, a spray head frame, a water supply hose and an atomizing spray head; the water outlet of the water tank is connected with the atomizing nozzle through a water supply hose; the atomizing nozzle is used for spraying water to the outer surface of the helmet during polishing;
the water tank is provided with a water replenishing port, the water replenishing port is connected with a water source through a pipeline, and a ball float valve is installed on the inner side of the water tank at the water replenishing port.
7. The fully-automatic helmet grinding equipment according to claim 6, wherein the workstation is provided with a rotating ring surrounding a positioning clamp, and the bottom of the nozzle frame is fixed on the upper surface of the rotating ring;
the rotary grab is fixedly connected with the lower surface of the rotary grab, penetrates through the semi-annular through hole and extends to the lower surface of the station table, and is in transmission connection with a first servo motor arranged below the station table;
the spray head frame comprises a support frame, a second servo motor, a support rod and a fixing clamp; the bottom of the support frame is arranged at the upper end of the rotating ring, the upper end of the support frame is provided with a U-shaped groove, the support rod is positioned in the U-shaped groove, two ends of the support rod are arranged on the support frame through bearings, the second servo motor is arranged on the support frame, and the second servo motor is in transmission connection with the support rod;
the fixing clamp is annular and comprises an upper half clamping ring and a lower half clamping ring, the lower half clamping ring is fixedly arranged on the supporting rod in the U-shaped groove, one end of the upper half clamping ring is connected with one end of the lower half clamping ring through a hinge, the other end of the upper half clamping ring and the other end of the lower half clamping ring can be opened or closed, and the fixing clamp is used for mounting the atomizing nozzle;
the first servo motor and the second servo motor can rotate positively and negatively.
8. The fully-automatic helmet grinding device according to claim 7, wherein a pin is fixedly arranged at the bottom of the support frame, and the pin is rotatably mounted at the upper end of the rotating ring; the upper end of the rotating ring is fixedly provided with a third servo motor, and the third servo motor is in transmission connection with the pin shaft; the third servo motor can rotate forward and backward.
9. The fully automatic helmet grinding device according to claim 7, wherein the support frame comprises a support base and a lifting frame, the support base is provided with a hollow cavity, the hollow cavity is provided with a rotating shaft through a bearing, and a first bevel gear is fixed at the bottom end of the rotating shaft; a fourth servo motor is fixedly installed on the outer side of the supporting seat, a rotating shaft of the fourth servo motor extends into the hollow cavity and is fixedly provided with a second bevel gear, and the second bevel gear is meshed with the first bevel gear; the upper end of the rotating shaft is provided with an outer spiral rod, the bottom of the lifting frame is provided with a vertical inner spiral hole and a guide hole, the outer spiral rod is matched and connected with the inner spiral hole, a guide rod is fixed on the upper surface of the supporting seat, and the guide rod is inserted into the guide hole; the fourth servo motor can rotate forward and backward.
10. The fully automated helmet grinding apparatus of claim 1 further comprising a control system comprising a PLC control board and a CCD camera, the PLC control board comprising a master control chip, an image recognition module, a positioning module, and an execution module;
the main control chip is respectively connected with the image recognition module, the positioning module and the execution module, and the image recognition module is connected with the CCD camera;
the CCD camera is used for acquiring a real-time image of helmet polishing processing;
the image identification module is used for identifying a real-time image;
the positioning module is used for positioning the helmet according to the identification of the real-time image;
the main control chip is used for processing data and generating a control instruction;
the execution module is respectively connected with the coarse grinding device, the trimming device, the fine grinding device and the injection molding machine; the PLC control panel is used for the cooperative control of the rough grinding device, the trimming device, the fine grinding device and the injection molding machine, and the helmet is transferred, positioned and polished.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115157074A (en) * | 2022-07-26 | 2022-10-11 | 伯朗特机器人股份有限公司 | Dry-water grinding integrated workstation and use method thereof |
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| CN114102410A (en) * | 2022-01-25 | 2022-03-01 | 广东熙瑞智能科技有限公司 | Full-automatic polishing workstation |
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| JPS5570551A (en) * | 1978-11-18 | 1980-05-28 | Tomio Takamaru | Helmet and the like polishing device |
| US20150044948A1 (en) * | 2012-03-29 | 2015-02-12 | Dula-Werke Dustmann & Co. Gmbh | Method for the multi-stage grinding of workpieces, and vacuum table, storage container, stripping device and plant for carrying out the method |
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| CN115157074A (en) * | 2022-07-26 | 2022-10-11 | 伯朗特机器人股份有限公司 | Dry-water grinding integrated workstation and use method thereof |
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Denomination of invention: Fully automated helmet polishing equipment Effective date of registration: 20230719 Granted publication date: 20220708 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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