CN115070543A - Control system of automatic polishing robot - Google Patents
Control system of automatic polishing robot Download PDFInfo
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- CN115070543A CN115070543A CN202211015994.5A CN202211015994A CN115070543A CN 115070543 A CN115070543 A CN 115070543A CN 202211015994 A CN202211015994 A CN 202211015994A CN 115070543 A CN115070543 A CN 115070543A
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- 238000005498 polishing Methods 0.000 title claims abstract description 164
- 238000000227 grinding Methods 0.000 claims abstract description 79
- 230000000694 effects Effects 0.000 claims abstract description 18
- 230000006698 induction Effects 0.000 claims abstract 2
- 238000001514 detection method Methods 0.000 claims description 77
- 238000007664 blowing Methods 0.000 claims description 48
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- 230000000007 visual effect Effects 0.000 claims description 46
- 230000005484 gravity Effects 0.000 claims description 33
- 230000009471 action Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 6
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- 239000002184 metal Substances 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
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- 238000009713 electroplating Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 238000010438 heat treatment Methods 0.000 description 1
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B49/14—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 taking regard of the temperature during grinding
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- 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
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to the technical field of automatic grinding control, in particular to a control system of an automatic grinding robot, which comprises: polishing a terminal, wherein the polishing terminal takes polishing equipment as a carrier; the polishing terminal is used for automatically polishing the workpiece; the control system of the automatic grinding robot further comprises: a sensing terminal; the sensing terminal takes induction measuring equipment as a carrier; the sensing terminal is used for detecting the condition of the workpiece before polishing; a control terminal; the control terminal takes electronic equipment as a carrier; according to the invention, before the workpiece is fed to the automatic polishing robot in the polishing terminal for polishing, the appearance and specification of the workpiece are measured through the sensing terminal, parameters such as burr quantity on the surface of the workpiece are detected, the parameters are collected and transmitted to the control terminal, and the parameters are analyzed through the control terminal, so that each parameter corresponds to different parameters of the polishing terminal, and the workpiece polishing efficiency and effect are improved.
Description
Technical Field
The invention relates to the technical field of automatic grinding control, in particular to a control system of an automatic grinding robot.
Background
The product is assembled by parts, the parts are processed by a machine through multiple processes, the existing mechanical processing method mainly comprises the methods of turning, milling, planing, grinding, drilling, boring, punching, sawing, inserting and the like, and the method can also comprise linear cutting, casting, forging, electro-corrosion, powder processing, electroplating, various heat treatments and the like; for the forming of common workpieces, burrs are formed after the previous turning, or the roughness of the previous process needs to be improved, and the next process is needed for polishing treatment;
in the conventional polishing process, a workpiece processed in the previous step is directly placed into polishing equipment, a controller is started to control the machine to operate, the surface or the edge of the workpiece is directly polished by an automatic polishing robot under the same pressure and speed, and after a period of time, the polished workpiece is taken out, so that the process of polishing the workpiece is completed; therefore, the control system can not carry out targeted polishing according to the conditions of the workpiece, such as the amount of burrs, the temperature, the type of the workpiece and the like, so that the polishing period and effect of the workpiece can not be effectively controlled, the polishing efficiency and effect of the workpiece are low, and even the surface of the workpiece is damaged.
In view of the above, in order to overcome the above technical problems, the present invention provides a control system for an automatic polishing robot, which solves the above technical problems.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a control system of an automatic polishing robot, wherein a workpiece is sent to the automatic polishing robot in a polishing terminal for polishing, the appearance and the specification of the workpiece are measured through a sensing terminal, parameters such as burr quantity on the surface of the workpiece are detected, the parameters are collected and transmitted to a control terminal, and the parameters are analyzed through the control terminal, so that each parameter corresponds to different parameters of the polishing terminal, and the polishing efficiency and the polishing effect of the workpiece are improved.
The invention relates to a control system of an automatic grinding robot, which comprises:
a polishing terminal with a polishing device as a carrier, such as an automatic polishing robot; the polishing terminal is used for automatically polishing the workpiece;
the control system of the automatic grinding robot further comprises:
a sensing terminal; the sensing terminal takes sensing measurement equipment as a carrier, such as CCD visual detection equipment, a camera, a temperature sensor and a humidity sensor; the sensing terminal is used for detecting the condition of the workpiece before polishing, such as the amount of burrs attached to the workpiece, the temperature of the workpiece, the humidity of the workpiece and the like;
a control terminal; the control terminal takes electronic equipment as a carrier, such as a central processing unit;
the polishing terminal, the sensing terminal and the control terminal are connected through a network;
the control terminal can receive data after the sensing terminal senses and measures;
the control terminal can transmit the data of the sensing terminal to the polishing terminal after analyzing, and the polishing terminal is controlled to polish the workpiece.
Preferably, the sensing terminal comprises a sensing module and a first transmission unit; the sensing module takes electronic equipment as a carrier; the sensing module captures parameters of a workpiece to be polished; the first transmission unit is used for transmitting the data of the sensing module to the control terminal; the sensing terminal comprises a visual detection unit and a gravity parameter unit;
the control terminal comprises a measuring and calculating module and a second transmission unit; the second transmission unit is used for receiving the data of the first transmission unit; the measuring and calculating module analyzes the data measured by the sensing module; the measuring and calculating module transmits the analyzed data to the polishing terminal through a second transmission unit;
the polishing terminal comprises a polishing module and a third transmission unit; the third transmission unit can acquire the analysis data of the measuring and calculating module through the second transmission unit, and the polishing module performs targeted polishing on the analysis data in the third transmission unit.
Preferably, the polishing terminal further comprises a blower module; the air blowing module takes air blowing equipment as a carrier, such as an air blower; the third transmission unit can transmit the data of the second transmission unit to the air blowing module; the sensing terminal further comprises a temperature sensing unit, and the temperature sensing unit takes temperature sensing equipment as a carrier, such as a temperature measuring gun; the temperature sensing unit can detect the surface temperature of the workpiece to be polished.
Preferably, the sensing terminal further comprises a humidity detection unit; the humidity detection unit can timely feed back the humidity condition of the surface of the workpiece to the polishing terminal.
Preferably, the visual detection unit is used for recording the polishing shape, the polishing area, the burr amount and the burr density of the workpiece, and the visual detection unit is used for transmitting data to the measuring and calculating module; and the grinding module transmits the grinding speed parameters and the grinding period of the equipment to the measuring and calculating module in a data form.
Preferably, the sensing module further comprises a hardness detection unit; the hardness detection unit can detect the hardness of the workpiece, and the hardness detection unit transmits hardness parameters of the workpiece to the sensing module.
Preferably, the visual detection unit can monitor the action effect of the air blowing module on the workpiece in real time; the measuring and calculating module can realize parameter control on the air blowing module according to the action effect of the visual detection unit; the measuring and calculating module can realize parameter control on the polishing module according to the action effect of the blowing module.
Preferably, the polishing terminal further comprises a gravity detection unit; the gravity detection unit takes a gravity detection device as a carrier, such as a gravity detection sensor; the gravity detection unit is used for detecting the gravity parameters of the polishing module; the vision inspection unit is capable of monitoring the sanding module.
The invention has the following beneficial effects:
1. according to the invention, before the workpiece is fed to the automatic polishing robot in the polishing terminal for polishing, the appearance and specification of the workpiece are measured through the sensing terminal, parameters such as burr quantity on the surface of the workpiece are detected, the parameters are collected and transmitted to the control terminal, and the parameters are analyzed through the control terminal, so that each parameter corresponds to different parameters of the polishing terminal, and the workpiece polishing efficiency and effect are improved.
2. According to the invention, the temperature of the surface of the workpiece before polishing is sensed by the temperature sensing unit, and according to the property of metal, the higher the temperature is, the more easily the surface is scratched, so that the air cooling time of the air blowing module on the workpiece can be controlled according to the temperature, and the air pressure, the air quantity and the air blowing time sprayed by the air blowing module are controlled by combining the burr density distribution condition of the visual detection unit, so that the energy of the air blowing module can be maximally utilized while burr is specifically cleaned, and meanwhile, the temperatures of all parts of the workpiece are not completely the same, and the air cooling is specifically realized by adjusting the air blowing position of the air blowing module.
3. According to the invention, the weight of the brush, which is a grinding tool in the grinding module after grinding is finished each time, is detected in real time through the gravity detection sensor, so that the grinding tool is controlled to rotate to realize the purpose of throwing out impurities such as burrs and the like mixed between the brushes until the gravity of the grinding tool after rotation is sensed to be not more than the weight of the grinding tool in an initial state, so that the impurities between the brushes are cleaned, the phenomenon that the surface of a workpiece with lower hardness is scratched by the impurities such as the burrs and the like mixed on the grinding tool is reduced, the impurities such as the burrs and the like mixed in the next workpiece with hardness higher than that of the grinding tool are not cleaned, and the grinding time is saved.
Drawings
The invention is further described with reference to the following figures and embodiments.
FIG. 1 is a block flow diagram of a system of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1, the control system of an automatic polishing robot according to the present invention includes:
a polishing terminal with a polishing device as a carrier, such as an automatic polishing robot; the polishing terminal is used for automatically polishing the workpiece;
the control system of the automatic grinding robot further comprises:
a sensing terminal; the sensing terminal takes sensing measurement equipment as a carrier, such as CCD visual detection equipment, a camera, a temperature sensor and a humidity sensor; the sensing terminal is used for detecting the condition of the workpiece before polishing, such as the amount of burrs attached to the workpiece, the temperature of the workpiece, the humidity of the workpiece and the like;
a control terminal; the control terminal takes electronic equipment as a carrier, such as a central processing unit;
the polishing terminal, the sensing terminal and the control terminal are connected through a network;
the control terminal can receive data after the sensing terminal senses and measures;
the control terminal can analyze the data of the sensing terminal and transmit the data to the polishing terminal, and the polishing terminal is controlled to polish the workpiece;
when the automatic polishing machine is used, the prior polishing process is that a workpiece processed in the previous process is directly placed into polishing equipment, a controller is started to control the machine to operate, the surface or the edge of the workpiece is directly polished by the automatic polishing robot under the same pressure and speed, and after a period of time, the polished workpiece is taken out, so that the process of polishing the workpiece is completed; therefore, the control system can not carry out targeted polishing according to the conditions of the workpiece, such as the amount of burrs, the temperature, the type of the workpiece and the like, so that the polishing period and effect of the workpiece can not be effectively controlled, the polishing efficiency and effect of the workpiece are low, and even the surface of the workpiece is damaged;
therefore, before a workpiece is sent to an automatic polishing robot in a polishing terminal to be polished, the appearance and specification of the workpiece are measured through the sensing terminal, parameters such as burr quantity on the surface of the workpiece are detected, the parameters are collected and transmitted to the control terminal, and the parameters are analyzed through the control terminal, so that each parameter corresponds to different parameters of the polishing terminal, and the polishing efficiency and effect of the workpiece are improved.
As an embodiment of the present invention, the sensing terminal includes a sensing module and a first transmission unit; the sensing module takes electronic equipment as a carrier; the sensing module captures parameters of a workpiece to be polished; the first transmission unit is used for transmitting the data of the sensing module to the control terminal; the sensing terminal comprises a visual detection unit and a gravity parameter unit;
the control terminal comprises a measuring and calculating module and a second transmission unit; the second transmission unit is used for receiving the data of the first transmission unit; the measuring and calculating module analyzes the data measured by the sensing module; the measuring and calculating module transmits the analyzed data to the polishing terminal through a second transmission unit;
the polishing terminal comprises a polishing module and a third transmission unit; the third transmission unit can acquire the analysis data of the measuring and calculating module through a second transmission unit, and the polishing module performs targeted polishing on the analysis data in the third transmission unit;
when the burr grinding device is used, the visual detection unit in the sensing module can detect the burr amount by CCD visual detection equipment, and the larger the burr amount is, the longer the working time of the grinding module is; the CCD visual detection equipment can also detect the size and the distribution condition of burrs, the grinding module performs key grinding on places with larger burrs, the grinding time is longer for places with more densely distributed burrs than for places with sparse burrs, and the condition that the burrs are attached to the workpiece after the workpiece is ground in real time is monitored through various visual observation equipment, so that the grinding is stopped in time, the grinding efficiency is improved, and the condition of ineffective grinding is avoided,
simultaneously through placing the work piece of treating polishing on the testing platform, can detect whether the work piece accords with standard weight on the one hand through accurate piece gravity response, for example, size deviation is big, put the work piece by mistake or inside have great gas pocket all can lead to the weight difference, this kind of deviation is great then can in time discover to reject, and can not be too big to the gravity deviation of what of the attached burr volume, but also can acquire the approximate scope of what the work piece adheres to the burr, provide the foundation for the module control time of polishing, the visual detection unit can also include the camera, also can cooperate CCD visual detection equipment to realize the work piece burr through the camera and observe.
As an embodiment of the present invention, the polishing terminal further includes a blower module; the air blowing module takes air blowing equipment as a carrier, such as an air blower; the third transmission unit can transmit the data of the second transmission unit to the air blowing module; the sensing terminal further comprises a temperature sensing unit, and the temperature sensing unit takes temperature sensing equipment as a carrier, such as a temperature measuring gun; the temperature sensing unit can detect the surface temperature of a workpiece to be polished; during the use, the temperature on the surface of a workpiece before being polished is sensed through the temperature sensing unit, according to the property of metal, the higher the temperature is, the more easily the scratch is caused on the surface, therefore, the air cooling time of the air blowing module on the workpiece can be controlled according to the temperature, the air pressure, the air quantity and the air blowing time sprayed by the air blowing module are controlled through combining the burr density distribution condition of the visual detection unit, the energy of the air blowing module can be utilized to the maximum while the burr is cleaned in a targeted manner, meanwhile, the temperatures of all parts of the workpiece are not completely the same, and the air cooling in the targeted manner is realized by adjusting the air blowing position of the air blowing module.
As an embodiment of the present invention, the sensing terminal further includes a humidity detection unit; the humidity detection unit can feed back the humidity condition of the surface of the workpiece to the polishing terminal in time; during the use, to the great moisture content when great promptly of workpiece surface humidity, form impurity drive fish tail workpiece surface after can causing to polish impurity adhesion if directly polishing, current burnisher is brush or mill, consequently this embodiment is bloied the clearance through the air-blast module, the module of polishing of deuterogamying slightly brushes the work surface and moves and cooperates, carry out the preliminary treatment to workpiece surface's burr and impurity, if workpiece surface humidity is less promptly moisture content is less, then need not to carry out the preliminary treatment through the module of polishing to the work piece, and directly polish, thereby the work piece efficiency of polishing that improves greatly.
As an embodiment of the invention, the visual detection unit further records the polishing shape, the area, the burr amount and the burr density of the workpiece, and the visual detection unit transmits data to the measuring and calculating module; the polishing module transmits polishing speed parameters and periods of equipment to the measuring and calculating module in a data form; when the polishing device is used, under the same material, the visual detection unit records the polishing area of a workpiece to be polished, namely the larger the polishing area is, the larger the loss of the polishing tool is, and the visual detection unit records the polishing shape of the workpiece to be polished, namely the more irregular the polishing shape is, the larger the roughness is, the larger the loss of the polishing tool is; the larger the burr quantity of the workpiece with grinding is sent by the visual detection unit, the larger the loss of the grinding tool is; the more dense the visual detection unit is to the burrs of the workpiece, the larger the loss to the grinding tool is, and the visual detection unit records the situations in a data form in the sensing module in the recording mode, transmits the data to the first transmission unit through the sensing module, transmits the data to the second transmission unit through the first transmission unit, and finally transmits the data to the measuring and calculating module to form a record corresponding to the grinding tool, meanwhile, the polishing module can also transmit the corresponding polishing speed parameters to the measuring module through the third transmission unit and the second transmission unit to form records, the present embodiment is able to measure the endurance life of each grinding tool through these records, and then, through the endurance life, after the next grinding tool is worn, the system is used for carrying out measurement and calculation in advance through a measurement and calculation module, so that priority alarm is realized, and the conditions of polishing failure and even workpiece damage are prevented; the service life of the grinding tool can also be improved by recording the actual usage parameters of each grinding tool and feeding back the supplier of the grinding tool.
As an embodiment of the present invention, the sensing module further includes a hardness detection unit; the hardness detection unit can detect the hardness of the workpiece, and transmits hardness parameters of the workpiece to the sensing module; when the hardness measuring module is used, after a workpiece is machined, the hardness of the workpiece is changed due to the change of factors such as temperature, each hardness corresponds to a corresponding grinding tool, and the grinding tools are abraded differently due to the difference of the hardness, so that the hardness of the workpiece to be ground is recorded through the hardness detecting unit, and the measuring and calculating precision of the measuring module on the service life of the grinding tools is improved.
As an embodiment of the present invention, the visual detection unit can monitor the effect of the blower module on the workpiece in real time; the measuring and calculating module can realize parameter control on the air blowing module according to the action effect of the visual detection unit; the measuring and calculating module can realize parameter control on the polishing module according to the action effect of the blowing module; when the burr or impurity cleaning device is used, the air quantity and the air pressure of air blown by the air blowing module are unchanged at the same time, the visual detection unit and the gravity parameter unit can observe that burrs on a workpiece are not reduced, at the moment, the air blowing module is controlled by the measuring and calculating module to adjust the air quantity and the air pressure, so that the purpose of cleaning the burrs or the impurities is achieved by the minimum air quantity and the minimum air pressure, the measuring and calculating module records the pressure threshold value of the blown burrs on different workpieces, the burr or the impurities on the same workpiece are blown next time according to the pressure threshold value of the previous blown burr on the same workpiece, energy waste caused by the fact that the air quantity and the air pressure of the air blowing module are reduced to the threshold value is avoided, if the burrs or the impurities on the workpiece cannot be cleaned through the air blowing module, the measuring and calculating module controls the polishing force of the polishing module on the workpiece, so that the burrs or the impurities can be cleaned, namely, the air blowing module pre-cleans the burrs or the impurities of the workpiece, and for burrs with different adhesion forces of the workpiece, the measuring and calculating module adjusts the grinding pressure and the rotating speed corresponding to the grinding module through corresponding pressure and rotating speed measurement and calculation.
As an embodiment of the present invention, the polishing terminal further includes a gravity detection unit; the gravity detection unit takes a gravity detection device as a carrier, such as a gravity detection sensor; the gravity detection unit is used for detecting the gravity parameters of the polishing module; the visual detection unit can monitor the polishing module; during the use, come real-time detection through gravity detection sensor and polish the weight that burnisher is the brush in the module of polishing after accomplishing each time, control burnisher with this and rotate the purpose that realizes throwing away the impurity such as burr that mix with between each brush, the gravity of burnisher after responding to the rotation is not more than the weight under the burnisher initial condition, it obtains the clearance to reach the impurity between each brush with this, reduce because impurity such as the burr that mix with on the burnisher causes the fish tail to the lower work piece surface of hardness, and be higher than the impurity such as the burr that mix with in the burnisher and do not make the clearance to next work piece hardness, the polishing time has been practiced thrift, simultaneously through the supplementary gravity detecting element of visual detection unit, make this embodiment detect and respond to more accurately.
The specific work flow is as follows:
before a workpiece is sent to an automatic polishing robot in a polishing terminal to be polished, the appearance and specification of the workpiece are measured through a sensing terminal, parameters such as burr quantity on the surface of the workpiece are detected, the parameters are collected and transmitted to a control terminal, and the parameters are analyzed through the control terminal, so that each parameter corresponds to different parameters of the polishing terminal;
the visual detection unit in the sensing module can detect the burr amount by CCD visual detection equipment, and the larger the burr amount is, the longer the working time of the grinding module is; the CCD visual detection equipment can also detect the size and the distribution condition of burrs, the grinding module mainly grinds places with larger burrs, the grinding time is longer for places with more densely distributed burrs than for places with sparse burrs, and the grinding is stopped in time by monitoring the condition that the burrs are attached to the workpiece after the workpiece is ground in real time through various visual observation equipment, so that the grinding efficiency is improved, and the condition of ineffective grinding is avoided,
meanwhile, a workpiece to be polished is placed on the detection platform, on one hand, whether the workpiece meets the standard weight can be detected through gravity sensing of a precision part, for example, the workpiece has large size deviation, the workpiece is misplaced or has large internal air holes which can cause different weights, the workpiece can be timely found and removed if the deviation is large, the gravity deviation of the attached burr quantity is not too large, but the approximate range of the attached burr quantity of the workpiece can be obtained, a basis is provided for the polishing module to control the polishing time, the visual detection unit can also comprise a camera, and the workpiece burr observation can be realized by matching with a CCD visual detection device through the camera;
the temperature sensing unit senses the temperature of the surface of the workpiece before polishing, and the higher the temperature is, the more easily the surface is scratched according to the properties of metal, so that the time of air cooling of the workpiece by the air blowing module can be controlled according to the temperature, and the air pressure, the air quantity and the air blowing time sprayed by the air blowing module are controlled by combining the burr density distribution condition of the visual detection unit, so that the energy of the air blowing module can be utilized to the maximum while the burr is cleaned in a targeted manner, and meanwhile, the temperatures of all parts of the workpiece are not completely the same, and the targeted air cooling is realized by adjusting the air blowing position of the air blowing module;
when the surface humidity of the workpiece is high, namely the moisture content is high, if the workpiece is directly polished, polishing impurities are adhered to form impurities to drive the workpiece surface to be scratched, and the conventional polishing tool is a brush or a grinding disc, so that the workpiece is cleaned by blowing air through the air blowing module, and then the workpiece surface is slightly brushed by the polishing module to be matched, burrs and impurities on the workpiece surface are pretreated, and if the surface humidity of the workpiece is low, namely the moisture content is low, the workpiece is directly polished without being pretreated by the polishing module;
the visual detection unit records the polishing area of the workpiece to be polished, namely the larger the polishing area is, the larger the loss of the polishing tool is, and the visual detection unit records the polishing shape of the workpiece to be polished, namely the more irregular the polishing shape is, the larger the roughness is, the larger the loss of the polishing tool is; the larger the burr quantity of the workpiece with grinding is sent by the visual detection unit, the larger the loss of the grinding tool is; the more dense the visual detection unit is to the burrs of the workpiece, the larger the loss to the grinding tool is, and the visual detection unit records the situations in a data form in the sensing module in the recording mode, transmits the data to the first transmission unit through the sensing module, transmits the data to the second transmission unit through the first transmission unit, and finally transmits the data to the measuring and calculating module to form a record corresponding to the grinding tool, meanwhile, the polishing module can also transmit the corresponding polishing speed parameters to the measuring module through the third transmission unit and the second transmission unit to form records, the present embodiment is able to measure the endurance life of each grinding tool through these records, and then, through the endurance life, after the next grinding tool is worn, the system is used for carrying out measurement and calculation in advance through a measurement and calculation module, so that priority alarm is realized, and the conditions of polishing failure and even workpiece damage are prevented;
after the workpiece is machined, the hardness of the workpiece is changed due to the change of factors such as temperature, and the like, each hardness corresponds to a corresponding grinding tool, and the grinding tools are abraded differently due to the difference of the hardness, so that the hardness of the workpiece to be ground is recorded through the hardness detection unit; at the same time, the air quantity and the air pressure of the air blowing module are unchanged, the visual detection unit and the gravity parameter unit can observe that burrs on the workpiece are not reduced, at the moment, the air blowing module is controlled by the measuring and calculating module to adjust the air quantity and the air pressure, so that the purpose of cleaning impurities or burrs is achieved by the minimum air quantity and the minimum air pressure, the measuring and calculating module records the pressure threshold value of the blown burrs on different workpieces, the burrs on the same workpiece are blown again according to the pressure threshold value of the last blown burr, energy waste caused by the fact that the air quantity and the air pressure of the air blowing module are reduced to the threshold value is avoided, if the burrs or the impurities on the workpiece cannot be cleaned through the air blowing module, the measuring and calculating module controls the polishing force of the polishing module on the workpiece, so that the burrs or the impurities can be cleaned, namely, the air blowing module performs a pre-cleaning process on the burrs or the impurities of the workpiece, for burrs with different adhesion forces of the workpiece, the measuring and calculating module is used for adjusting the grinding pressure and the rotating speed corresponding to the grinding module through corresponding pressure and rotating speed measurement and calculation; come the weight that grinding tool is the brush in the module of polishing after the real-time detection is accomplished to polish every time through gravity detection sensor, control grinding tool with this and rotate the purpose that realizes throwing away impurity such as burr that mix with between each brush, grinding tool's after the response rotation gravity is not more than grinding tool initial state's weight, obtain the clearance with this impurity between each brush, reduce because impurity such as burr that mix with on the grinding tool causes the fish tail to the lower work piece surface of hardness, and be higher than impurity such as the burr that mix with in the grinding tool and do not do the clearance to next work piece hardness.
In order to verify the importance of the parameters of the grinding workpiece in the invention to the wear of the grinding tool, the following experiments were carried out:
experimental verification
The purpose of the test is as follows: verifying the influence of the parameters of the grinding workpiece on the wear of the grinding tool;
test parameters are as follows: polishing the plane, the polishing area, the burr quantity, the density degree and the hardness of burrs;
as can be seen from the table, the rougher the sanding plane, the lower the useful life of the sanding tool; the larger the grinding area is, the shorter the service life of the grinding tool is; the larger the amount of burrs to be ground, the shorter the service life of the grinding tool; the denser the ground burr density, the shorter the service life of the grinding tool; the higher the hardness of the workpiece to be polished is, the lower the service life of the polishing tool is;
therefore, in the process of polishing the workpiece by the automatic polishing robot, the service life of the workpiece to be polished needs to be monitored in time, so that the polishing failure caused by untimely replacement of the polishing tool of the workpiece, namely the condition of invalid polishing is avoided.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A control system for an automatic grinding robot, comprising:
polishing a terminal, wherein the polishing terminal takes polishing equipment as a carrier; the polishing terminal is used for automatically polishing the workpiece;
its characterized in that, automatic robot's of polishing control system still includes:
a sensing terminal; the sensing terminal takes induction measuring equipment as a carrier; the sensing terminal is used for detecting the condition of the workpiece before polishing;
a control terminal; the control terminal takes electronic equipment as a carrier;
the polishing terminal, the sensing terminal and the control terminal are connected through a network;
the control terminal can receive data after the sensing terminal senses and measures;
the control terminal can analyze the data of the sensing terminal and transmit the data to the polishing terminal, and the polishing terminal is controlled to polish the workpiece;
the sensing terminal comprises a sensing module and a first transmission unit; the sensing module takes electronic equipment as a carrier; the sensing module captures parameters of a workpiece to be polished; the first transmission unit is used for transmitting the data of the sensing module to the control terminal; the sensing terminal comprises a visual detection unit and a gravity parameter unit;
the control terminal comprises a measuring and calculating module and a second transmission unit; the second transmission unit is used for receiving the data of the first transmission unit; the measuring and calculating module analyzes the data measured by the sensing module; the measuring and calculating module transmits the analyzed data to the polishing terminal through a second transmission unit;
the polishing terminal comprises a polishing module and a third transmission unit; the third transmission unit can acquire the analysis data of the measuring and calculating module through a second transmission unit, and the polishing module performs targeted polishing on the analysis data in the third transmission unit;
the polishing terminal also comprises a blowing module; the air blowing module takes air blowing equipment as a carrier; the third transmission unit can transmit the data of the second transmission unit to the air blowing module;
the visual detection unit also records the polishing shape, the polishing area, the burr amount and the burr density of the workpiece, and transmits data to the measuring and calculating module; the polishing module transmits polishing speed parameters and periods of equipment to the measuring and calculating module in a data form;
the visual detection unit can monitor the action effect of the air blowing module on the workpiece in real time; the measuring and calculating module can realize parameter control on the air blowing module according to the action effect of the visual detection unit; the measuring and calculating module can realize parameter control on the polishing module according to the action effect of the blowing module.
2. The control system of an automatic grinding robot as claimed in claim 1, wherein: the sensing terminal also comprises a temperature sensing unit, and the temperature sensing unit takes temperature sensing equipment as a carrier; the temperature sensing unit can detect the surface temperature of the workpiece to be polished.
3. A control system for an automatic grinding robot as recited in claim 2, wherein: the sensing terminal further comprises a humidity detection unit; the humidity detection unit can timely feed back the humidity condition of the surface of the workpiece to the polishing terminal.
4. A control system for an automatic grinding robot as recited in claim 3, wherein: the sensing module further comprises a hardness detection unit; the hardness detection unit can detect the hardness of the workpiece, and the hardness detection unit transmits hardness parameters of the workpiece to the sensing module.
5. A control system for an automatic grinding robot as defined in claim 4, wherein: the polishing terminal also comprises a gravity detection unit; the gravity detection unit takes gravity detection equipment as a carrier; the gravity detection unit is used for detecting the gravity parameters of the polishing module; the visual detection unit is capable of monitoring the sanding module.
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